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HRA*: hybrid randomized path planning for complex 3D environments
dc.contributor.author | Teniente Avilés, Ernesto Homar |
dc.contributor.author | Andrade-Cetto, Juan |
dc.contributor.other | Institut de Robòtica i Informàtica Industrial |
dc.date.accessioned | 2016-08-26T10:14:58Z |
dc.date.available | 2016-08-26T10:14:58Z |
dc.date.issued | 2013 |
dc.identifier.citation | Teniente, E., Andrade-Cetto, J. HRA*: hybrid randomized path planning for complex 3D environments. A: IEEE/RSJ International Conference on Intelligent Robots and Systems. "IROS 2013: New Horizon Conference Digest: 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems: Tokyo, Big Sight, Tokyo, Japan, November 3-8, 2013". Tokyo: Institute of Electrical and Electronics Engineers (IEEE), 2013, p. 1766-1771. |
dc.identifier.uri | http://hdl.handle.net/2117/89386 |
dc.description.abstract | We propose HRA*, a new randomized path planner for complex 3D environments. The method is a modified A* algorithm that uses a hybrid node expansion technique that combines a random exploration of the action space meeting vehicle kinematic constraints with a cost to goal metric that considers only kinematically feasible paths to the goal. The method includes also a series of heuristics to accelerate the search time. These include a cost penalty near obstacles, and a filter to prevent revisiting configurations. The performance of the method is compared against A*, RRT and RRT* in a series of challenging 3D outdoor datasets. HRA* is shown to outperform all of them in computation time, and delivering shorter paths than A* and RR |
dc.format.extent | 6 p. |
dc.language.iso | eng |
dc.publisher | Institute of Electrical and Electronics Engineers (IEEE) |
dc.rights.uri | http://creativecommons.org/licenses/by-nc-nd/3.0/es/ |
dc.subject | Àrees temàtiques de la UPC::Informàtica::Robòtica |
dc.subject.other | Robots |
dc.title | HRA*: hybrid randomized path planning for complex 3D environments |
dc.type | Conference report |
dc.contributor.group | Universitat Politècnica de Catalunya. VIS - Visió Artificial i Sistemes Intel·ligents |
dc.identifier.doi | 10.1109/IROS.2013.6696588 |
dc.subject.inspec | Classificació INSPEC::Automation::Robots |
dc.relation.publisherversion | http://ieeexplore.ieee.org/document/6696588/ |
dc.rights.access | Open Access |
local.identifier.drac | 12988896 |
dc.description.version | Postprint (author's final draft) |
dc.relation.projectid | info:eu-repo/grantAgreement/EC/FP7/287617/EU/Aerial Robotics Cooperative Assembly System/ARCAS |
local.citation.author | Teniente, E.; Andrade-Cetto, J. |
local.citation.contributor | IEEE/RSJ International Conference on Intelligent Robots and Systems |
local.citation.pubplace | Tokyo |
local.citation.publicationName | IROS 2013: New Horizon Conference Digest: 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems: Tokyo, Big Sight, Tokyo, Japan, November 3-8, 2013 |
local.citation.startingPage | 1766 |
local.citation.endingPage | 1771 |