Guided motion planning for modular robots

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F14%3A00229386" target="_blank" >RIV/68407700:21230/14:00229386 - isvavai.cz</a>

Výsledek na webu

—

DOI - Digital Object Identifier

—

Jazyk výsledku

angličtina

Název v původním jazyce

Guided motion planning for modular robots

Popis výsledku v původním jazyce

Modular robots consist of many modules that can be connected into various structures. This allows modular robots to adapt their shape according to a given task and environment. To visit a desired place in an environment, motion planning is required. To generate feasible plans for these robots with many degrees of freedom and many kinematic and dynamic constraints, a physical simulation is required to precisely model motion of the robots. As the physical simulation can be time consuming, motion planners need to be extended to decrease the number of simulation queries. In this paper, we propose a novel motion planning for modular robots based on guided sampling of configuration space. The guided sampling utilizes a precomputed simple path in the environment, along which the configuration space of the robot is sampled with higher probability. This approach significantly decreases the number of calls of physical simulations which increases the speed of the planning process.

Název v anglickém jazyce

Guided motion planning for modular robots

Popis výsledku anglicky

Modular robots consist of many modules that can be connected into various structures. This allows modular robots to adapt their shape according to a given task and environment. To visit a desired place in an environment, motion planning is required. To generate feasible plans for these robots with many degrees of freedom and many kinematic and dynamic constraints, a physical simulation is required to precisely model motion of the robots. As the physical simulation can be time consuming, motion planners need to be extended to decrease the number of simulation queries. In this paper, we propose a novel motion planning for modular robots based on guided sampling of configuration space. The guided sampling utilizes a precomputed simple path in the environment, along which the configuration space of the robot is sampled with higher probability. This approach significantly decreases the number of calls of physical simulations which increases the speed of the planning process.

Druh

D - Stať ve sborníku

CEP obor

JC - Počítačový hardware a software

OECD FORD obor

—

Projekt

<a href="/cs/project/TE01020197" target="_blank" >TE01020197: Centrum aplikované kybernetiky 3</a><br>

Návaznosti

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

Rok uplatnění

2014

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

978-3-319-13822-0

ISSN

0302-9743

e-ISSN

—

Počet stran výsledku

14

Strana od-do

217-230

Název nakladatele

Springer

Místo vydání

Cham

Místo konání akce

Rome

Datum konání akce

5. 5. 2014

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

000354951100020