Mr. Jiajun Ouyang Profile

Jiajun Ouyang

SPIE Involvement:

Author

Publications (1)

This will count as one of your downloads.

You will have access to both the presentation and article (if available).

DOWNLOAD NOW

This content is available for download via your institution's subscription. To access this item, please sign in to your personal account.

Email or Username Forgot your username?

Password Forgot your password?

Show

Keep me signed in

No SPIE account? Create an account

Proceedings Article | 2 May 2024 Paper

BABIT: a bidirectional advanced BIT for fast path planning with implicit random geometric graph

Yihang Xiang, Jiajun Ouyang, Zhen Huang, Hui Yu, Junyu Dong, Shu Zhang

Proceedings Volume 13164, 1316402 (2024) https://doi.org/10.1117/12.3016851

Read Abstract +

Path planning is an active and essential research field for many applications with autonomous mobile robotics. However, popular technologies have limitations in situations where robots require onboard computing to work independently. To this end, this paper proposes a bidirectional advanced batch information tree (BABIT*), which is an asymptotically optimal algorithm path planner enhanced from Batch Informed Trees (BIT*). It uses an edge queue sorted by inflated potential path cost to guide the search of implicit random geometry graph (RGG) to generate explicit solutions while minimizing height calculation tasks such as collision checking. BABIT* promotes the exploration of the entire state space by adopting a more reasonable sampling strategy to achieve a more uniform and decentralized approximation of problems, and ensures a faster discovery of solutions by using symmetric bidirectional search for the state space from both directions. The experimental results show that BABIT* outperforms existing single-query, sampling based planners on the tested problems.

My Library

You currently do not have any folders to save your paper to! Create a new folder below.

Folder Name

Folder Description

View contact details

UPDATE YOUR PROFILE

Is this your profile? Update it now.

Sign into your SPIE.org account

Don’t have a profile and want one?

Create an account on SPIE.org

Access to the requested content is limited to institutions that have purchased or subscribe to SPIE eBooks. You are receiving this notice because your organization may not have SPIE eBooks access.*

*Shibboleth/Open Athens users─please sign in to access your institution's subscriptions.

To obtain this item, you may purchase the complete book in print or electronic format on SPIE.org.

ORGANIZATIONAL
Sign in with credentials provided by your organization.

Organizational Username

Organizational Password

Show/Hide Password

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available

Members:

Non-members: ADD TO CART

Keywords/Phrases

Search In:

Publication Years