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dc.contributor.authorGarcía Hidalgo, Néstor
dc.contributor.authorSuárez Feijóo, Raúl
dc.contributor.authorRosell Gratacòs, Jan
dc.contributor.otherUniversitat Politècnica de Catalunya. Institut d'Organització i Control de Sistemes Industrials
dc.contributor.otherUniversitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial
dc.date.accessioned2016-02-02T09:23:30Z
dc.date.issued2015
dc.identifier.citationGarcía, N., Suarez, R., Rosell, J. HG-RRT*: Human-Guided Optimal Random Trees for Motion Planning. A: IEEE International Conference on Emerging Technologies and Factory Automation. "2015 IEEE 20th Conference on Emerging Technologies & Factory Automation (ETFA 2015): Luxembourg, 8-11 September 2015". Luxembourg: Institute of Electrical and Electronics Engineers (IEEE), 2015.
dc.identifier.isbn978-1-4673-7930-4
dc.identifier.urihttp://hdl.handle.net/2117/82397
dc.description.abstractThe paper deals with the problem of designing an RRT*-based planning algorithm that allows the user to guide the tree growth in a simple and transparent way. The key idea of the proposal is to create a planning algorithm, called HG-RRT*, that minimizes an optimization function over the configuration space where a state cost function is established. This state cost is defined as the combination of several potential fields. Each of these potential fields will attract the solution path or move it away from certain areas. The planning algorithm will try to minimize the path length, the motion effort and the variations of the cost along the path. The paper presents a description of the proposed approach as well as simulation results from a conceptual and an application example, including a thorough comparison with the TRRT planning algorithm.
dc.language.isoeng
dc.publisherInstitute of Electrical and Electronics Engineers (IEEE)
dc.subjectÀrees temàtiques de la UPC::Informàtica::Robòtica
dc.subject.lcshRobots -- Motion
dc.titleHG-RRT*: Human-Guided Optimal Random Trees for Motion Planning
dc.typeConference lecture
dc.subject.lemacRobots -- Moviment
dc.contributor.groupUniversitat Politècnica de Catalunya. SIR - Service and Industrial Robotics
dc.identifier.doi10.1109/ETFA.2015.7301536
dc.rights.accessRestricted access - publisher's policy
drac.iddocument17372072
dc.description.versionPostprint (author's final draft)
dc.date.lift10000-01-01
upcommons.citation.authorGarcía, N., Suarez, R., Rosell, J.
upcommons.citation.contributorIEEE International Conference on Emerging Technologies and Factory Automation
upcommons.citation.pubplaceLuxembourg
upcommons.citation.publishedtrue
upcommons.citation.publicationName2015 IEEE 20th Conference on Emerging Technologies & Factory Automation (ETFA 2015): Luxembourg, 8-11 September 2015


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