Motion planning with adaptive motion primitives for modular robots
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F15%3A00234433" target="_blank" >RIV/68407700:21230/15:00234433 - isvavai.cz</a>
Alternative codes found
RIV/68407700:21730/15:00234433
Result on the web
<a href="http://www.sciencedirect.com/science/article/pii/S1568494615003026" target="_blank" >http://www.sciencedirect.com/science/article/pii/S1568494615003026</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1016/j.asoc.2015.05.002" target="_blank" >10.1016/j.asoc.2015.05.002</a>
Alternative languages
Result language
angličtina
Original language name
Motion planning with adaptive motion primitives for modular robots
Original language description
This paper presents a novel motion planning algorithm for modular robots moving in environments with diverse terrain conditions. This requires the planner to generate a suitable control signal for all actuators, which can be computationally intensive. Todecrease the complexity of the planning task, the concept of motion primitives is used. The motion primitives generate simple motions like `crawl-forward? or `turn-left? and the motion planner constructs a plan using these primitives. To preserve the efficiency and robustness of the planner on varying terrains, a novel schema called RRT-AMP (Rapidly Exploring Random Trees with Adaptive Motion Primitives) for adapting the motion primitives is introduced. The adaptation procedure is integrated into the planning process, which allows the planner simultaneously to adapt the primitives and to use them to obtain the final plan. Besides adaptation in changing environments, RRT-AMP can adapt motion primitives if some module fails. The methods
Czech name
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Czech description
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Classification
Type
J<sub>x</sub> - Unclassified - Peer-reviewed scientific article (Jimp, Jsc and Jost)
CEP classification
JC - Computer hardware and software
OECD FORD branch
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Result continuities
Project
<a href="/en/project/GP13-30155P" target="_blank" >GP13-30155P: Spatial cognition for mobile robots</a><br>
Continuities
S - Specificky vyzkum na vysokych skolach
Others
Publication year
2015
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Name of the periodical
Applied Soft Computing
ISSN
1568-4946
e-ISSN
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Volume of the periodical
34
Issue of the periodical within the volume
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Country of publishing house
NL - THE KINGDOM OF THE NETHERLANDS
Number of pages
15
Pages from-to
678-692
UT code for WoS article
000357469500049
EID of the result in the Scopus database
2-s2.0-84935015847