C-Uniform Trajectory Sampling For Fast Motion Planning
<|reference_start|>C-Uniform Trajectory Sampling For Fast Motion Planning: We study the problem of sampling robot trajectories and introduce the notion of C-Uniformity. As opposed to the standard method of uniformly sampling control inputs (which lead to biased samples of the configuration space), C-Uniform trajectories are generated by control actions which lead to uniform sampling of the configuration space. After presenting an intuitive closed-form solution to generate C-Uniform trajectories for the 1D random-walker, we present a network-flow based optimization method to precompute C-Uniform trajectories for general robot systems. We apply the notion of C-Uniformity to the design of Model Predictive Path Integral controllers. Through simulation experiments, we show that using C-Uniform trajectories significantly improves the performance of MPPI-style controllers, achieving up to 40% coverage performance gain compared to the best baseline. We demonstrate the practical applicability of our method with an implementation on a 1/10th scale racer.<|reference_end|>
@article{poyrazoglu2024c-uniform,
    title={C-Uniform Trajectory Sampling For Fast Motion Planning},
    author={O. Goktug Poyrazoglu, Yukang Cao and Volkan Isler},
    journal={arXiv preprint arXiv:2409.12266},
    year={2024},
    archivePrefix={arXiv},
    eprint={2409.12266},
    primaryClass={cs.RO}
}