Mostra el registre d'ítem simple

dc.contributor.authorRosell Gratacòs, Jan
dc.contributor.authorPérez, Alexander
dc.contributor.otherUniversitat Politècnica de Catalunya. Institut d'Organització i Control de Sistemes Industrials
dc.date.accessioned2008-09-22T14:31:34Z
dc.date.available2008-09-22T14:31:34Z
dc.date.issued2008-09
dc.identifier.otherIOC-DT-P-2008-10
dc.identifier.urihttp://hdl.handle.net/2117/2256
dc.description.abstractThis paper is focused on the sampling process for path planners based on probabilistic roadmaps. The paper first analyzes three sampling sources: the random sequence and two deterministic sequences, Halton and sd(k), and compares them in terms of dispersion, computational efficiency (including the finding of nearest neighbors), and sampling probabilities. Then, based on this analysis and on the recognized success of the Gaussian sampling strategy, the paper proposes a new efficient sampling strategy based on deterministic sampling that also samples more densely near the C-obstacles. The proposal is evaluated and compared with the original Gaussian strategy in both 2D and 3D configuration spaces, giving promising results.
dc.format.extent37 p.
dc.language.isoeng
dc.rightsAttribution-NonCommercial-NoDerivs 2.5 Spain
dc.rights.urihttp://creativecommons.org/licenses/by-nc-nd/2.5/es/
dc.subjectÀrees temàtiques de la UPC::Informàtica::Robòtica
dc.subject.lcshRobotics
dc.subject.otherPath planning
dc.subject.otherPlanificación de la trayectoria
dc.subject.otherDeterministic sampling
dc.subject.otherMostratge determinista
dc.subject.otherMuestreo determinista
dc.subject.otherPlanificació de la trajectòria
dc.titleSampling C-obstacles border using a filtered deterministic sequence
dc.typeExternal research report
dc.subject.lemacRobòtica
dc.rights.accessOpen Access
dc.relation.projectidcttCICYT projectes DPI2005-00112 i DPI2007-63665
local.personalitzacitaciotrue


Fitxers d'aquest items

Thumbnail

Aquest ítem apareix a les col·leccions següents

Mostra el registre d'ítem simple