Srovnání metod silniční mapy a metod dekompozice v plánování pohybu robota

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F00216305%3A26210%2F07%3APU67227" target="_blank" >RIV/00216305:26210/07:PU67227 - 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

A Comparison of Roadmap and Cell Decomposition Methods in Robot Motion Planning

Popis výsledku v původním jazyce

The task of planning trajectories plays an important role in transportation, robotics, information systems, etc. In robot motion planning, the robot should pass around obstacles from a given starting position to a given target position, touching none ofthem, i.e. the goal is to find a collision-free path from the starting to the target position. Research on path planning has yielded many fundamentally different approaches to the solution of this problem that can be classified as roadmap methods (visibility graph method, Voronoi diagram) and methods based on cell decomposition. Assuming movements only in a restricted number of directions (eight directional or horizontal/vertical) the task, with respect to its combinatorial nature, can be solved by decomposition methods using heuristic techniques. The cell decomposition methods may include a case-based reasoning procedure. Robot motion planning algorithms can be modified by considering a robot as a point and enlarging the obstacles in t

Název v anglickém jazyce

A Comparison of Roadmap and Cell Decomposition Methods in Robot Motion Planning

Popis výsledku anglicky

The task of planning trajectories plays an important role in transportation, robotics, information systems, etc. In robot motion planning, the robot should pass around obstacles from a given starting position to a given target position, touching none ofthem, i.e. the goal is to find a collision-free path from the starting to the target position. Research on path planning has yielded many fundamentally different approaches to the solution of this problem that can be classified as roadmap methods (visibility graph method, Voronoi diagram) and methods based on cell decomposition. Assuming movements only in a restricted number of directions (eight directional or horizontal/vertical) the task, with respect to its combinatorial nature, can be solved by decomposition methods using heuristic techniques. The cell decomposition methods may include a case-based reasoning procedure. Robot motion planning algorithms can be modified by considering a robot as a point and enlarging the obstacles in t

Druh

J_x - Nezařazeno - Článek v odborném periodiku (Jimp, Jsc a Jost)

CEP obor

JD - Využití počítačů, robotika a její aplikace

OECD FORD obor

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Projekt

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Návaznosti

Z - Vyzkumny zamer (s odkazem do CEZ)

Rok uplatnění

2007

Kód důvěrnosti údajů

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

Název periodika

WSEAS TRANSACTIONS on SYSTEMS and CONTROL

ISSN

1991-8763

e-ISSN

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Svazek periodika

2

Číslo periodika v rámci svazku

2

Stát vydavatele periodika

GR - Řecká republika

Počet stran výsledku

8

Strana od-do

101-108

Kód UT WoS článku

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EID výsledku v databázi Scopus

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