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@inproceedings{1305134, author = {Abbadi, Ahmad and Přenosil, Václav}, address = {BERLIN, GERMANY}, booktitle = {Modelling and Simulation for Autonomous Systems,}, doi = {http://dx.doi.org/10.1007/978-3-319-22383-4_9}, editor = {Hodicky, Jan}, keywords = {path re-planning; motion planning; RRT; cell decomposition; Multi RRT}, howpublished = {elektronická verze "online"}, language = {eng}, location = {BERLIN, GERMANY}, isbn = {978-3-319-22382-7}, pages = {131-143}, publisher = {Springer International Publishing}, title = {Collided path replanning in dynamic environments using RRT and Cell decomposition algorithms}, url = {http://dx.doi.org/10.1007/978-3-319-22383-4_9}, year = {2015} }
TY - JOUR ID - 1305134 AU - Abbadi, Ahmad - Přenosil, Václav PY - 2015 TI - Collided path replanning in dynamic environments using RRT and Cell decomposition algorithms PB - Springer International Publishing CY - BERLIN, GERMANY SN - 9783319223827 KW - path re-planning KW - motion planning KW - RRT KW - cell decomposition KW - Multi RRT UR - http://dx.doi.org/10.1007/978-3-319-22383-4_9 L2 - http://dx.doi.org/10.1007/978-3-319-22383-4_9 N2 - The motion planning is an important part of robots’ models. It is responsible for robot’s movements. In this work, the cell decomposition algorithm is used to find a spatial path on preliminary static workspaces, and then, the rapidly exploring random tree algorithm (RRT) is used to validate this path on the actual workspace. Two methods have been proposed to enhance the omnidirectional robot’s navigation on partially changed workspace. First, the planner creates a RRT tree and biases its growth toward the path’s points in ordered form. The planner reduces the probability of choosing the next point when a collision is detected, which in turn increases the RRT’s expansion on the free space. The second method uses a straight planner to connect path’s points. If a collision is detected, the planner places RRTs on both sides of the collided segment. The proposed methods are compared with the others approaches, and the simulation shows better results in term of efficiency and completeness. ER -
ABBADI, Ahmad and Václav PŘENOSIL. Collided path replanning in dynamic environments using RRT and Cell decomposition algorithms. Online. In Hodicky, Jan. \textit{Modelling and Simulation for Autonomous Systems,}. BERLIN, GERMANY: Springer International Publishing, 2015, p.~131-143. ISBN~978-3-319-22382-7. Available from: https://dx.doi.org/10.1007/978-3-319-22383-4\_{}9.
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