Multi-Goal Trajectory Planning with Motion Primitives for Hexapod Walking Robot
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F14%3A00224921" target="_blank" >RIV/68407700:21230/14:00224921 - isvavai.cz</a>
Result on the web
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DOI - Digital Object Identifier
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Alternative languages
Result language
angličtina
Original language name
Multi-Goal Trajectory Planning with Motion Primitives for Hexapod Walking Robot
Original language description
This paper presents our early results on multi-goal trajectory planning with motion primitives for a hexapod walking robot. We propose to use an on-line unsupervised learning method to simultaneously find a solution of the underlying traveling salesman problem together with particular trajectories between the goals. Using this technique, we avoid pre-computation of all possible trajectories between the goals for a graph based heuristic solvers for the traveling salesman problem. The proposed approach utilizes principles of self-organizing map to steer the randomized sampling of configuration space in promising areas regarding the multi-goal trajectory. The presented results indicate the proposed steering mechanism provides a feasible multi-goal trajectory in a less number of samples than an approach based on a priori known sequence of the goals visits.
Czech name
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Czech description
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Classification
Type
D - Article in proceedings
CEP classification
JD - Use of computers, robotics and its application
OECD FORD branch
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Result continuities
Project
<a href="/en/project/GP13-18316P" target="_blank" >GP13-18316P: Self-Organizing Maps for Multi-Goal Path Planning Tasks</a><br>
Continuities
S - Specificky vyzkum na vysokych skolach
Others
Publication year
2014
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Article name in the collection
Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics
ISBN
978-989-758-040-6
ISSN
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e-ISSN
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Number of pages
6
Pages from-to
599-604
Publisher name
SciTePress - Science and Technology Publications
Place of publication
Porto
Event location
Vienna
Event date
Sep 1, 2014
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
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