Randomized multi-goal path planning for Dubins vehicles
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F22%3A00362031" target="_blank" >RIV/68407700:21230/22:00362031 - isvavai.cz</a>
Result on the web
<a href="https://doi.org/10.1109/ETFA52439.2022.9921589" target="_blank" >https://doi.org/10.1109/ETFA52439.2022.9921589</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1109/ETFA52439.2022.9921589" target="_blank" >10.1109/ETFA52439.2022.9921589</a>
Alternative languages
Result language
angličtina
Original language name
Randomized multi-goal path planning for Dubins vehicles
Original language description
In multi-goal path planning, the task is to find a sequence to visit a set of target locations in an environment using the shortest path. Finding the order can be achieved by solving an instance of the Traveling Salesman Problem (TSP). This requires to determine paths and their lengths between the individual targets, which is solved using robotic path planning. In this paper, we propose a randomized planner for multi-goal path planning for non-holonomic mobile robots. Multiple trees are constructed simultaneously from the targets and expanded by collision-free configurations until they touch each other or obstacles. The trees are expanded using Dubins maneuvers. Therefore, the resulting trajectories satisfy the kinematic constraints of the mobile robots and they can also be used by Unmanned Aerial Vehicles flying at a constant altitude. The efficiency of the proposed planning approach is demonstrated in the multi-goal path planning for environments with tens of targets and compared to state-of-the-art approaches.
Czech name
—
Czech description
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Classification
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)
Result continuities
Project
<a href="/en/project/GA22-24425S" target="_blank" >GA22-24425S: Sampling-based motion planning in scenarios with narrow passages</a><br>
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)
Others
Publication year
2022
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Article name in the collection
2022 IEEE 27th International Conference on Emerging Technologies and Factory Automation (ETFA)
ISBN
978-1-6654-9996-5
ISSN
1946-0740
e-ISSN
1946-0759
Number of pages
4
Pages from-to
—
Publisher name
IEEE Industrial Electronic Society
Place of publication
Vienna
Event location
Stuttgart
Event date
Sep 6, 2022
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
000934103900143