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Generative Adversarial Network Based Heuristics for Sampling-Based Path Planning
Tianyi Zhang; Jiankun Wang; Max Q.-H. Meng
Source PublicationIEEE/CAA Journal of Automatica Sinica
ISSN2329-9266
2022
Volume9Issue:1Pages:64-74
AbstractSampling-based path planning is a popular methodology for robot path planning. With a uniform sampling strategy to explore the state space, a feasible path can be found without the complex geometric modeling of the configuration space. However, the quality of the initial solution is not guaranteed, and the convergence speed to the optimal solution is slow. In this paper, we present a novel image-based path planning algorithm to overcome these limitations. Specifically, a generative adversarial network (GAN) is designed to take the environment map (denoted as RGB image) as the input without other preprocessing works. The output is also an RGB image where the promising region (where a feasible path probably exists) is segmented. This promising region is utilized as a heuristic to achieve non-uniform sampling for the path planner. We conduct a number of simulation experiments to validate the effectiveness of the proposed method, and the results demonstrate that our method performs much better in terms of the quality of the initial solution and the convergence speed to the optimal solution. Furthermore, apart from the environments similar to the training set, our method also works well on the environments which are very different from the training set.
KeywordGenerative adversarial network (GAN) optimal path planning robot path planning sampling-based path planning
DOI10.1109/JAS.2021.1004275
Citation statistics
Cited Times:21[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/45974
Collection学术期刊_IEEE/CAA Journal of Automatica Sinica
Recommended Citation
GB/T 7714
Tianyi Zhang,Jiankun Wang,Max Q.-H. Meng. Generative Adversarial Network Based Heuristics for Sampling-Based Path Planning[J]. IEEE/CAA Journal of Automatica Sinica,2022,9(1):64-74.
APA Tianyi Zhang,Jiankun Wang,&Max Q.-H. Meng.(2022).Generative Adversarial Network Based Heuristics for Sampling-Based Path Planning.IEEE/CAA Journal of Automatica Sinica,9(1),64-74.
MLA Tianyi Zhang,et al."Generative Adversarial Network Based Heuristics for Sampling-Based Path Planning".IEEE/CAA Journal of Automatica Sinica 9.1(2022):64-74.
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