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Path planning using harmonic functions and probabilistic cell decomposition
dc.contributor.author | Rosell Gratacòs, Jan |
dc.contributor.author | Iñíguez Galbete, Pedro |
dc.contributor.other | Universitat Politècnica de Catalunya. Institut d'Organització i Control de Sistemes Industrials |
dc.date.accessioned | 2006-11-14T14:19:50Z |
dc.date.available | 2006-11-14T14:19:50Z |
dc.date.issued | 2004-10 |
dc.identifier.uri | http://hdl.handle.net/2117/564 |
dc.description.abstract | Potential-field approach based on harmonic functions have good path planning properties, although the explicit knowledge of the robot’s Configuration Space is required. To overcome this drawback, a combination with a random sampling scheme is proposed. Harmonic functions are computed over computed over a 2d –tree decomposition of a d-dimensional Configuration Space that is obtained with a probabilistic cell decomposition (sampling and classification). Cell sampling is biased towards the more promising regions by using the harmonic function values. Cell classification is performed by evaluating a set of configurations of the cell obtained with a deterministic sampling sequence that provides a good uniform and incremental coverage of the cell. The proposed planning framework open the use of harmonic functions to higher dimensional C-spaces. |
dc.format.extent | 8 |
dc.language.iso | eng |
dc.relation.ispartofseries | IOC-DT-P |
dc.relation.ispartofseries | 2004-16 |
dc.rights | Attribution-NonCommercial-NoDerivs 2.5 Spain |
dc.rights.uri | http://creativecommons.org/licenses/by-nc-nd/2.5/es/ |
dc.subject | Àrees temàtiques de la UPC::Informàtica::Robòtica |
dc.subject.lcsh | Robot control systems |
dc.subject.other | Harmonic functions |
dc.title | Path planning using harmonic functions and probabilistic cell decomposition |
dc.type | External research report |
dc.subject.lemac | Robòtica -- Informes tècnics |
dc.rights.access | Open Access |
dc.relation.projectidctt | CICYT DPI2004-03104 |
local.personalitzacitacio | true |
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