Collided path replanning in dynamic environments using RRT and Cell decomposition algorithms

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F00216224%3A14330%2F15%3A00083283" target="_blank" >RIV/00216224:14330/15:00083283 - isvavai.cz</a>

Výsledek na webu

<a href="http://dx.doi.org/10.1007/978-3-319-22383-4_9" target="_blank" >http://dx.doi.org/10.1007/978-3-319-22383-4_9</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1007/978-3-319-22383-4_9" target="_blank" >10.1007/978-3-319-22383-4_9</a>

Jazyk výsledku

angličtina

Název v původním jazyce

Collided path replanning in dynamic environments using RRT and Cell decomposition algorithms

Popis výsledku v původním jazyce

The motion planning is an important part of robots? models. It is responsible for robot?s movements. In this work, the cell decomposition algorithm is used to find a spatial path on preliminary static workspaces, and then, the rapidly exploring random tree algorithm (RRT) is used to validate this path on the actual workspace. Two methods have been proposed to enhance the omnidirectional robot?s navigation on partially changed workspace. First, the planner creates a RRT tree and biases its growth towardthe path?s points in ordered form. The planner reduces the probability of choosing the next point when a collision is detected, which in turn increases the RRT?s expansion on the free space. The second method uses a straight planner to connect path?s points. If a collision is detected, the planner places RRTs on both sides of the collided segment. The proposed methods are compared with the others approaches, and the simulation shows better results in term of efficiency and completeness.

Název v anglickém jazyce

Collided path replanning in dynamic environments using RRT and Cell decomposition algorithms

Popis výsledku anglicky

The motion planning is an important part of robots? models. It is responsible for robot?s movements. In this work, the cell decomposition algorithm is used to find a spatial path on preliminary static workspaces, and then, the rapidly exploring random tree algorithm (RRT) is used to validate this path on the actual workspace. Two methods have been proposed to enhance the omnidirectional robot?s navigation on partially changed workspace. First, the planner creates a RRT tree and biases its growth towardthe path?s points in ordered form. The planner reduces the probability of choosing the next point when a collision is detected, which in turn increases the RRT?s expansion on the free space. The second method uses a straight planner to connect path?s points. If a collision is detected, the planner places RRTs on both sides of the collided segment. The proposed methods are compared with the others approaches, and the simulation shows better results in term of efficiency and completeness.

Druh

D - Stať ve sborníku

CEP obor

IN - Informatika

OECD FORD obor

—

Projekt

—

Návaznosti

S - Specificky vyzkum na vysokych skolach

Rok uplatnění

2015

Kód důvěrnosti údajů

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

Název statě ve sborníku

Modelling and Simulation for Autonomous Systems,

ISBN

9783319223827

ISSN

0302-9743

e-ISSN

—

Počet stran výsledku

13

Strana od-do

131-143

Název nakladatele

Springer International Publishing

Místo vydání

BERLIN, GERMANY

Místo konání akce

Prague, CZECH REPUBLIC

Datum konání akce

29. 4. 2015

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

000365044100009