Generative Adversarial Network Based Heuristics for Sampling-Based Path Planning

doi:10.1109/JAS.2021.1004275

CASIA OpenIR > 学术期刊 > IEEE/CAA Journal of Automatica Sinica

	Generative Adversarial Network Based Heuristics for Sampling-Based Path Planning
	Tianyi Zhang; Jiankun Wang; Max Q.-H. Meng
发表期刊	IEEE/CAA Journal of Automatica Sinica
ISSN	2329-9266
	2022
卷号	9 期号:1 页码:64-74
摘要	Sampling-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.
关键词	Generative adversarial network (GAN) optimal path planning robot path planning sampling-based path planning
DOI	10.1109/JAS.2021.1004275
引用统计	被引频次：17[WOS] [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	http://ir.ia.ac.cn/handle/173211/45974
专题	学术期刊_IEEE/CAA Journal of Automatica Sinica
推荐引用方式 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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