Cross-entropy motion planning

Author:

Kobilarov Marin1

Affiliation:

1. California Institute of Technology, 2543 Wellesley Avenue, Los Angeles, CA

Abstract

This paper is concerned with motion planning for non-linear robotic systems operating in constrained environments. A method for computing high-quality trajectories is proposed building upon recent developments in sampling-based motion planning and stochastic optimization. The idea is to equip sampling-based methods with a probabilistic model that serves as a sampling distribution and to incrementally update the model during planning using data collected by the algorithm. At the core of the approach lies the cross-entropy method for the estimation of rare-event probabilities. The cross-entropy method is combined with recent optimal motion planning methods such as the rapidly exploring random trees (RRT*) in order to handle complex environments. The main goal is to provide a framework for consistent adaptive sampling that correlates the spatial structure of trajectories and their computed costs in order to improve the performance of existing planning methods.

Publisher

SAGE Publications

Subject

Applied Mathematics,Artificial Intelligence,Electrical and Electronic Engineering,Mechanical Engineering,Modeling and Simulation,Software

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