ABBADI, Ahmad, Radomil MATOUSEK and Lukas KNISPEL. Narrow passage identification using cell decomposition approximation and minimum spanning tree. In International Conference of Soft Computing, Mendel Journal series. Brno: BUT FME, 2015. p. 131-138. ISSN 1803-3814.
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Original name Narrow passage identification using cell decomposition approximation and minimum spanning tree
Authors ABBADI, Ahmad (760 Syrian Arab Republic, belonging to the institution), Radomil MATOUSEK (203 Czech Republic) and Lukas KNISPEL (203 Czech Republic).
Edition Brno, International Conference of Soft Computing, Mendel Journal series, p. 131-138, 8 pp. 2015.
Publisher BUT FME
Other information
Original language English
Type of outcome Proceedings paper
Field of Study 10201 Computer sciences, information science, bioinformatics
Country of publisher Czech Republic
Confidentiality degree is not subject to a state or trade secret
Publication form electronic version available online
RIV identification code RIV/00216224:14330/15:00083544
Organization unit Faculty of Informatics
ISSN 1803-3814
Keywords in English Narrow passage; cell decomposition; minimum spanning tree MST; Motion planning; sampling based algorithm
Tags International impact, Reviewed
Changed by Changed by: RNDr. Pavel Šmerk, Ph.D., učo 3880. Changed: 5. 5. 2016 04:28.
Abstract
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
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