Další formáty:
BibTeX
LaTeX
RIS
@inproceedings{1308350,
author = {Abbadi, Ahmad and Matousek, Radomil and Knispel, Lukas},
address = {Brno},
booktitle = {International Conference of Soft Computing, Mendel Journal series},
keywords = {Narrow passage; cell decomposition; minimum spanning tree MST; Motion planning; sampling based algorithm},
howpublished = {elektronická verze "online"},
language = {eng},
location = {Brno},
pages = {131-138},
publisher = {BUT FME},
title = {Narrow passage identification using cell decomposition approximation and minimum spanning tree},
year = {2015}
}
TY - JOUR
ID - 1308350
AU - Abbadi, Ahmad - Matousek, Radomil - Knispel, Lukas
PY - 2015
TI - Narrow passage identification using cell decomposition approximation and minimum spanning tree
PB - BUT FME
CY - Brno
KW - Narrow passage
KW - cell decomposition
KW - minimum spanning tree MST
KW - Motion planning
KW - sampling based algorithm
N2 - Narrow passage problem is a problematic issue facing the sampling-based motion planner. In this paper, a new approach for narrow areas identification is proposed. The quad-tree cell-decomposition approximation is used to divide the free workspace into smaller cells, and build a graph of adjacency for these. The proposed method follows the graph edges and finds a sequence of cells, which have the same size, preceded and followed by a bigger cell size. The sequence, which has the pattern bigger-smaller-bigger cells size, is more likely to be located in a narrow area. The minimum spanning tree algorithm is used, to linearize adjacency graph. Many methods have been proposed to manipulate the edges cost in the graph, in order to make the generated spanning tree traverse through narrow passages in detectable ways. Five methods have been proposed, some of them give bad results, and the others give better on in simulations
ER -
ABBADI, Ahmad, Radomil MATOUSEK a Lukas KNISPEL. Narrow passage identification using cell decomposition approximation and minimum spanning tree. In \textit{International Conference of Soft Computing, Mendel Journal series}. Brno: BUT FME. s.~131-138. ISSN~1803-3814. 2015.
|
