Marco Faroni

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

2022 · arXiv (Cornell University)

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 …