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Finding Diverse Paths for Robot Navigation Using a Fast Random Walk Approach
ISSN: 2348 - 2273
Publisher: author
Finding Diverse Paths for Robot Navigation Using a Fast Random Walk Approach
Indexed in
Technology and Engineering
ARTICLE-FACTOR
1.3
Article Basics Score: 2
Article Transparency Score: 2
Article Operation Score: 3
Article Articles Score: 2
Article Accessibility Score: 3
SUBMIT PAPER ASK QUESTION
International Category Code (ICC):
ICC-1802
Publisher: International Journal Of Electrical Electronics & Computer..
International Journal Address (IAA):
IAA.ZONE/234857372273
eISSN
:
2348 - 2273
VALID
ISSN Validator
Abstract
Finding a set of diverse paths among dynamic obstacles is an appealing navigation strategy for mobile robots to qualitatively reason about multiple path hypotheses to the goal. We introduce an efficient randomized approach, based on weighted random walks, that finds K diverse paths on the Voronoi diagram of the environment, where each path represents a distinct homotopy class. We show experimentally that our approach is significantly faster at finding paths of higher diversity in distinct homotopy classes than two state-of-the-art methods. Moreover, we prove that our method is probabilistically complete.
