Distance Metrics for Path Planning with Dynamic Roadmaps

Abstract:
Path planning in changing environments requires algorithms that are able to quickly replan when new obstacles appear. The dynamic roadmap method is such an approach that relies on a precomputed graph and a mapping from workspace to configuration space. Of particular importance in this regard is the distance metric used to create the roadmap. This paper evaluates its impact on roadmap quality and resulting planning times. A special emphasis is put on the application of dynamic roadmaps for pick-and-place tasks, where planning has to consider the geometry of the grasped object.