Narrow passage identification using cell decomposition approximation and minimum spanning tree

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F00216224%3A14330%2F15%3A00083544" target="_blank" >RIV/00216224:14330/15:00083544 - isvavai.cz</a>

Výsledek na webu

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DOI - Digital Object Identifier

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Jazyk výsledku

angličtina

Název v původním jazyce

Narrow passage identification using cell decomposition approximation and minimum spanning tree

Popis výsledku v původním jazyce

Narrow passage problem is a problematic issue facing the sampling-based motion planner. In this paper, a new approach for narrow areas identification is proposed. The quad-tree cell-decomposition approximation is used to divide the free workspace into smaller cells, and build a graph of adjacency for these. The proposed method follows the graph edges and finds a sequence of cells, which have the same size, preceded and followed by a bigger cell size. The sequence, which has the pattern bigger-smaller-bigger cells size, is more likely to be located in a narrow area. The minimum spanning tree algorithm is used, to linearize adjacency graph. Many methods have been proposed to manipulate the edges cost in the graph, in order to make the generated spanningtree traverse through narrow passages in detectable ways. Five methods have been proposed, some of them give bad results, and the others give better on in simulations

Název v anglickém jazyce

Narrow passage identification using cell decomposition approximation and minimum spanning tree

Popis výsledku anglicky

Narrow passage problem is a problematic issue facing the sampling-based motion planner. In this paper, a new approach for narrow areas identification is proposed. The quad-tree cell-decomposition approximation is used to divide the free workspace into smaller cells, and build a graph of adjacency for these. The proposed method follows the graph edges and finds a sequence of cells, which have the same size, preceded and followed by a bigger cell size. The sequence, which has the pattern bigger-smaller-bigger cells size, is more likely to be located in a narrow area. The minimum spanning tree algorithm is used, to linearize adjacency graph. Many methods have been proposed to manipulate the edges cost in the graph, in order to make the generated spanningtree traverse through narrow passages in detectable ways. Five methods have been proposed, some of them give bad results, and the others give better on in simulations

Druh

D - Stať ve sborníku

CEP obor

IN - Informatika

OECD FORD obor

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Projekt

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Návaznosti

I - Institucionalni podpora na dlouhodoby koncepcni rozvoj vyzkumne organizace

Rok uplatnění

2015

Kód důvěrnosti údajů

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

Název statě ve sborníku

International Conference of Soft Computing, Mendel Journal series

ISBN

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ISSN

1803-3814

e-ISSN

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Počet stran výsledku

8

Strana od-do

131-138

Název nakladatele

BUT FME

Místo vydání

Brno

Místo konání akce

Brno

Datum konání akce

1. 1. 2015

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

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