Path planning of 3D solid objects using approximate solutions

Result code in IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F19%3A00335535" target="_blank" >RIV/68407700:21230/19:00335535 - isvavai.cz</a>

Result on the web

<a href="https://ieeexplore.ieee.org/document/8869344" target="_blank" >https://ieeexplore.ieee.org/document/8869344</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1109/ETFA.2019.8869344" target="_blank" >10.1109/ETFA.2019.8869344</a>

Result language

angličtina

Original language name

Path planning of 3D solid objects using approximate solutions

Original language description

Path planning of 3D solid objects has many practical applications. Sampling-based planners like Rapidly-exploring Random Tree (RRT) tackle the problem by the randomized sampling of the configuration space. The well-known issue of the sampling-based planners is the narrow passage problem. Narrow passages are small collision-free regions in the configuration space that are, due to their low volume, difficult to cover by the random samples, which prevents the sampling-based planners from finding a path leading through the passages. To increase the success rate of the planners, the search in the configuration space can be guided using an approximate solution. An approximate solution is found, for example, considering a smaller object (robot). The performance of this planning concept depends on the way of reducing the size of the object and the ability to find an initial solution. In this paper, we propose a novel technique to reduce the geometry of the object by a combination of triangulation and iterative removal of surface triangles. This technique is suitable for both convex and non-convex objects. In many real-world applications, narrow passages can also contain the initial or goal configurations. We thus propose the extension of the goal region to increase the probability of finding the initial approximate solution. Experiments have shown that the proposed modification outperforms the simple guiding using approximate solutions, as well as other related state-of-the-art planners.

Czech name

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Czech description

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Type

D - Article in proceedings

CEP classification

—

OECD FORD branch

10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)

Project

<a href="/en/project/GJ19-22555Y" target="_blank" >GJ19-22555Y: Sampling-based planning of actions and motions using approximate solutions</a><br>

Continuities

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Publication year

2019

Confidentiality

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Article name in the collection

24th IEEE Conference on Emerging Technologies and Factory Automation

ISBN

978-1-7281-0303-7

ISSN

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e-ISSN

1946-0759

Number of pages

8

Pages from-to

593-600

Publisher name

IEEE

Place of publication

Piscataway, NJ

Event location

Zaragoza

Event date

Sep 10, 2019

Type of event by nationality

WRD - Celosvětová akce

UT code for WoS article

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