Safe Path Planning Using Cell Decomposition Approximation

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F00216224%3A14330%2F15%3A00083282" target="_blank" >RIV/00216224:14330/15:00083282 - isvavai.cz</a>
Result on the web
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DOI - Digital Object Identifier
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Result language
angličtina
Original language name
Safe Path Planning Using Cell Decomposition Approximation
Original language description
Motion planning is an essential part in robotics domain; it is responsible for guiding the robot motion toward the goal. It generates a path from one location to another one, while avoiding the obstacles in the way. The planning modules could be configured to check the optimality, completeness, power saving, shortness of path, minimal number of turn, or the turn sharpness, etc., in addition to path safety. In this paper the cell decomposition approximation planar is used to find a safe path; the quad-tree approximation algorithm divides the workspace into manageable free areas, and builds a graph of adjacency between them. New methods are proposed to keep the robot far away from the obstacles boundaries by a minimum safe distance. These methods manipulate the weights of adjacency graph's edges. They utilize and reflect the size of free cells when planning a path.
Czech name
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Czech description
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Publication year
2015
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Article name in the collection
International Conference DISTANCE LEARNING, SIMULATION AND COMMUNICATION
ISBN
9788072319923
ISSN
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e-ISSN
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Number of pages
7
Pages from-to
8-14
Publisher name
University of Defence, Brno
Place of publication
Brno
Event location
Brno
Event date
Jan 1, 2015
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
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