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arXiv · 2208.09318

Adaptive Hybrid Local-Global Sampling for Fast Informed Sampling-Based Optimal Path Planning

Marco Faroni·Nicola Pedrocchi·Manuel Beschi
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Abstract

This paper improves the performance of RRT$^*$-like sampling-based path planners by combining admissible informed sampling and local sampling (i.e., sampling the neighborhood of the current solution). An adaptive strategy regulates the trade-off between exploration (admissible informed sampling) and exploitation (local sampling) based on online rewards from previous samples. The paper demonstrates that the algorithm is asymptotically optimal and has a better convergence rate than state-of-the-art path planners (e.g., Informed-RRT*) in several simulated and real-world scenarios. An open-source, ROS-compatible implementation of the algorithm is publicly available.

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Marco Faroni, Nicola Pedrocchi, Manuel Beschi. 2022-08-19. Adaptive Hybrid Local-Global Sampling for Fast Informed Sampling-Based Optimal Path Planning. https://arxiv.org/abs/2208.09318

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