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Improving Path Quality by a Path Merging Algorithm

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An improved path (magenta) 
generated from multiple paths
When allocated more running time
the quality of H-Graphs converges to
the optimal (dashed line) whereas
PRM remains in a plateau.
For more experiments and examples,
see Raveh et al. [link].
Wrench Experiments
H-Graphs perform particularly well in high-dimensional settings


Sampling-based motion planners are an effective means for generating collision-free motion paths. However, the quality of these motion paths (with respect to quality measures such as path length, clearance, smoothness or energy) is often notoriously low, especially in high-dimensional configuration spaces.We introduce a simple algorithm for merging an arbitrary number of input motion paths into a hybrid output path of superior quality, for a broad and general formulation of path quality. Our approach is based on the observation that the quality of certain sub-paths within each solution may be higher than the quality of the entire path. A dynamic-programming algorithm, which we recently developed for comparing and clustering multiple motion paths, reduces the running time of the merging algorithm significantly. We tested our algorithm in motion-planning problems with up to 12 degrees of freedom. We show that our algorithm is able to merge a handful of input paths produced by several different motion planners to produce output paths of much higher quality.


  • Barak Raveh, Angela Enosh, and Dan Halperin
    A Little More, a Lot Better: Improving Path Quality by a Path Merging Algorithm
    IEEE Transactions on Robotics, 27(2): 365-371, 2011 [link] [bibtex]


Barak Raveh hompage contact
Angela Enosh hompage contact
Dan Halperin
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