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A novel path planning proposal based on the combination of deterministic sampling and harmonic functions
dc.contributor.author | Rosell Gratacòs, Jan |
dc.contributor.author | Vázquez Hurtado, Carlos |
dc.contributor.author | Pérez, Alexander |
dc.contributor.author | Iñíguez Galbete, Pedro |
dc.contributor.other | Universitat Politècnica de Catalunya. Institut d'Organització i Control de Sistemes Industrials |
dc.date.accessioned | 2007-04-16T10:52:03Z |
dc.date.available | 2007-04-16T10:52:03Z |
dc.date.issued | 2007-03 |
dc.identifier.uri | http://hdl.handle.net/2117/749 |
dc.description.abstract | The sampling-based approach is currently the most successful and yet more promising approach to path planning problems. Sampling-based methods are demonstrated to be probabilistic complete, being their performance reliant on the generation of samples. To obtain a good set of samples, this paper proposes a new sampling paradigm based on deterministic sampling paradigm based on a deterministic sampling sequence guided by an harmonic potential function computed on a hierarchical cell decomposition of C-space. In the proposed method, known as Kautham sampler, samples are not isolated configurations but parts of a whole. As samples are generated they are dynamically grouped into cells that capture the C-space structure. This allows the use of harmonic functions to share information and guide further sampling towards more promising regions of C-space. Finally, using the samples obtained, a roadmap is easily built taking advantage of the known neighbourhood relationships. |
dc.format.extent | 22 |
dc.language.iso | eng |
dc.relation.ispartofseries | IOC-DT-P |
dc.relation.ispartofseries | 2007-6 |
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 | Harmonic functions |
dc.subject.lcsh | Robots |
dc.subject.other | Planificació de moviments |
dc.subject.other | Mostratge determinista |
dc.subject.other | Funcions harmòniques |
dc.subject.other | Planificación de movimientos |
dc.subject.other | Muestreo determinista |
dc.subject.other | Funciones armónicas |
dc.subject.other | Motion planning |
dc.subject.other | Deterministic sampling |
dc.subject.other | Harmonic functions |
dc.title | A novel path planning proposal based on the combination of deterministic sampling and harmonic functions |
dc.type | External research report |
dc.subject.lemac | Robots -- Sistemes de control -- Informes tècnics |
dc.rights.access | Open Access |
dc.relation.projectidctt | DPI2004-03104 |
dc.relation.projectidctt | DPI2005-00112 |
local.personalitzacitacio | true |
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