Motion planning with adaptive motion primitives for modular robots

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F15%3A00234433" target="_blank" >RIV/68407700:21230/15:00234433 - isvavai.cz</a>

Nalezeny alternativní kódy

RIV/68407700:21730/15:00234433

Výsledek na webu

<a href="http://www.sciencedirect.com/science/article/pii/S1568494615003026" target="_blank" >http://www.sciencedirect.com/science/article/pii/S1568494615003026</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1016/j.asoc.2015.05.002" target="_blank" >10.1016/j.asoc.2015.05.002</a>

Jazyk výsledku

angličtina

Název v původním jazyce

Motion planning with adaptive motion primitives for modular robots

Popis výsledku v původním jazyce

This paper presents a novel motion planning algorithm for modular robots moving in environments with diverse terrain conditions. This requires the planner to generate a suitable control signal for all actuators, which can be computationally intensive. Todecrease the complexity of the planning task, the concept of motion primitives is used. The motion primitives generate simple motions like `crawl-forward? or `turn-left? and the motion planner constructs a plan using these primitives. To preserve the efficiency and robustness of the planner on varying terrains, a novel schema called RRT-AMP (Rapidly Exploring Random Trees with Adaptive Motion Primitives) for adapting the motion primitives is introduced. The adaptation procedure is integrated into the planning process, which allows the planner simultaneously to adapt the primitives and to use them to obtain the final plan. Besides adaptation in changing environments, RRT-AMP can adapt motion primitives if some module fails. The methods

Název v anglickém jazyce

Motion planning with adaptive motion primitives for modular robots

Popis výsledku anglicky

This paper presents a novel motion planning algorithm for modular robots moving in environments with diverse terrain conditions. This requires the planner to generate a suitable control signal for all actuators, which can be computationally intensive. Todecrease the complexity of the planning task, the concept of motion primitives is used. The motion primitives generate simple motions like `crawl-forward? or `turn-left? and the motion planner constructs a plan using these primitives. To preserve the efficiency and robustness of the planner on varying terrains, a novel schema called RRT-AMP (Rapidly Exploring Random Trees with Adaptive Motion Primitives) for adapting the motion primitives is introduced. The adaptation procedure is integrated into the planning process, which allows the planner simultaneously to adapt the primitives and to use them to obtain the final plan. Besides adaptation in changing environments, RRT-AMP can adapt motion primitives if some module fails. The methods

Druh

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

CEP obor

JC - Počítačový hardware a software

OECD FORD obor

—

Projekt

<a href="/cs/project/GP13-30155P" target="_blank" >GP13-30155P: Prostorové poznání pro mobilní roboty</a><br>

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 periodika

Applied Soft Computing

ISSN

1568-4946

e-ISSN

—

Svazek periodika

34

Číslo periodika v rámci svazku

—

Stát vydavatele periodika

NL - Nizozemsko

Počet stran výsledku

15

Strana od-do

678-692

Kód UT WoS článku

000357469500049

EID výsledku v databázi Scopus

2-s2.0-84935015847