On the expected complexity of random path planning
- 23 December 2002
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- Vol. 4 (10504729) , 3014-3019
- https://doi.org/10.1109/robot.1996.509170
Abstract
This paper gives an account of the convergence property of potential field based path planning algorithms that use random motions to escape local minima. Their probabilistic convergence is proved and we provide a finite estimate of the convergence time. The proof is based on the study of Markov chains and diffusion processes.Keywords
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