2D Benchmark Results

 

Overview

This page contains a comparison of two planning techniques, Uniform and Voronoi Based.  Uniform sampling refers to an implementation of a probabilistic roadmap planner using a uniform sampling approach.  The Voronoi Based Planner is identical to the Uniform sampler in every way, except that sampling is biased toward the medial axis using Hardware accelerated voronoi computations.

o        Result / Timings

o        Images / Descriptions

 

Results

  • RED indicates failure to complete in allocated time.
  • For a description of the columns in the table, click here.
  • Benchmark 1: Angled narrow passage. The robot varies so that in (a) No rotation is required. (b) Rotation is required.
  • Benchmark 2: The maze. The narrow passage is very long with respect to the dimension of the robot.
  • Benchmark 3: The house. Notice that Uniform sampling does not even complete in the allocated amount of time.

 

Bench

DOF

Type

Time

#C-Space samples

#Free samples

#Full Coll.

#QR Coll.

#Connect Comp. Calls

1(a)

2

Uniform

36.10

5062

3415

21740

0

2655585

1(a)

2

Voronoi

1.50

1239

1213

3202

9864

36447

1(b)

3

Uniform

80.22

14843

8636

20756

0

2360384

1(b)

3

Voronoi

20.47

8297

3365

8753

6201

201654

2

2

Uniform

625.67

30692

3479

267045

0

2423896

2

2

Voronoi

213.89

10018

1393

86902

78251

308528

2

2

Uniform

540.44

36631

17812

101087

0

104032

2

2

Voronoi

114.5

23680

8739

33646

24907

54986

                                                                                               

Benchmark 1 - A 2D environment that requires the robot to navigate a narrow passage to move from the open area on the left to the open area on the right. The environment consists of two wide-open areas connected by one angled narrow channel.

Scenario (a): Type-T narrow passage, robot dimension of 2.5 x 14.0.

Scenario (b): Type-R narrow passage, robot dimension of 4.0 x 40.0.

    • Size of environment     : 400 x 400
    • Width of narrow passage : 20
    • Number of line segments : 158

 

Benchmark 2 - A 2D environment requiring the robot to traverse a long Type-T narrow passage resembling a maze. 

    • Size of environment    : 400 x 400
    • Width of narrow passage: 15
    • Number of triangles    : 1044
    • Robot dimensions       : 10 x 10

 

Benchmark 3 - A complex 2D environment consisting of chairs, pianos and a music stand, each projected into the XY plane. The robot (a music stand) must navigate a Type-T narrow passage.

    • Size of environment : 15.5 x 17.5
    • Number of triangles : 12054
    • Robot dimensions    : 1.0 x 1.0

 

 

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geom@cs.unc.edu
last updated: 12/12/1999