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dc.contributor.authorTeniente Avilés, Ernesto Homar
dc.contributor.authorAndrade-Cetto, Juan
dc.contributor.otherInstitut de Robòtica i Informàtica Industrial
dc.date.accessioned2016-08-26T10:14:58Z
dc.date.available2016-08-26T10:14:58Z
dc.date.issued2013
dc.identifier.citationTeniente, 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.urihttp://hdl.handle.net/2117/89386
dc.description.abstractWe 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.extent6 p.
dc.language.isoeng
dc.publisherInstitute of Electrical and Electronics Engineers (IEEE)
dc.rights.urihttp://creativecommons.org/licenses/by-nc-nd/3.0/es/
dc.subjectÀrees temàtiques de la UPC::Informàtica::Robòtica
dc.subject.otherRobots
dc.titleHRA*: hybrid randomized path planning for complex 3D environments
dc.typeConference report
dc.contributor.groupUniversitat Politècnica de Catalunya. VIS - Visió Artificial i Sistemes Intel·ligents
dc.identifier.doi10.1109/IROS.2013.6696588
dc.subject.inspecClassificació INSPEC::Automation::Robots
dc.relation.publisherversionhttp://ieeexplore.ieee.org/document/6696588/
dc.rights.accessOpen Access
local.identifier.drac12988896
dc.description.versionPostprint (author's final draft)
dc.relation.projectidinfo:eu-repo/grantAgreement/EC/FP7/287617/EU/Aerial Robotics Cooperative Assembly System/ARCAS
local.citation.authorTeniente, E.; Andrade-Cetto, J.
local.citation.contributorIEEE/RSJ International Conference on Intelligent Robots and Systems
local.citation.pubplaceTokyo
local.citation.publicationNameIROS 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.startingPage1766
local.citation.endingPage1771


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