Building up high quality roadmap using vertex classification based incremental path planner

Abstract

Poor quality roadmaps can lead to in-optimal paths and lengthy path planning processes. Incremental path planners allow undesired vertices of the newly developed components to be removed when updating the existing roadmaps with the new components. Hence, it is possible for the planners to produce high quality roadmaps if quality measures are used to identify the undesired vertices. The usefulness of a vertex in the sense of high quality roadmap construction depends on the type of the region it resides, given a configuration space. Therefore, it is important for such path planners to identify the region types. This paper presents the concept of the usefulness and a vertex-based classification approach to enable the planners to identify the region types and to calculate the usefulness of vertices accordingly