Motion planning through policy search
Nicholas Roy, Sebastian Thrun · 2003
We propose a motion planning algorithm. for performing policy search in the full pose and velocity space of a mobile robot. By comparison, existing techniques optimize high-level plans, but fail to optimize the low-level motion controls. We use policy search in a high dimensional control space to find plans that lead. to measurably better motion planning. Our experimental results suggest that our approach leads to superior robot motion than many existing techniques.