Comparing different sampling-based motion planners in multiple configuration spaces

Sammanfattning: A lot of tasks in our society can be automatized through the use of motion planners. One approach of motion planning is known as sampling-based motion planning. In order to find out strengths and weaknesses of different sampling-based motion planners, benchmarks were run where the memory usage, the length of solutions and the time to find a feasible solution were compared. Multiple configuration spaces were used in order to correlate the effectiveness of planners with the different traits of the configuration spaces. The results show that the Lazy-PRM' takes up less memory than the PRM, RRT and RRT'. The results also suggest that there is a correlation between the configuration space and which planner finds the best result within a certain timeframe.