2D Benchmark Results
This page contains a comparison of two planning techniques, Uniform and Voronoi Based. Uniform sampling refers to an implementation of a probabilistic roadmap planner using a uniform sampling approach. The Voronoi Based Planner is identical to the Uniform sampler in every way, except that sampling is biased toward the medial axis using Hardware accelerated voronoi computations.
Benchmark 1 - A
2D environment that requires the robot to navigate a narrow passage to move
from the open area on the left to the open area on the right. The environment
consists of two wide-open areas connected by one angled narrow channel.
Scenario (a): Type-T narrow passage,
robot dimension of 2.5 x 14.0.
Scenario (b): Type-R narrow passage,
robot dimension of 4.0 x 40.0.
Benchmark 2 - A 2D environment requiring the robot to
traverse a long Type-T narrow passage resembling a maze.
Benchmark 3 - A complex 2D environment consisting of chairs,
pianos and a music stand, each projected into the XY plane. The robot (a
music stand) must navigate a Type-T narrow passage.
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last updated: 12/12/1999