Publication detail

Narrow passage identification using cell decomposition approximation and minimum spanning tree

ABBADI, A. MATOUŠEK, R. KNISPEL, L.

Original Title

Narrow passage identification using cell decomposition approximation and minimum spanning tree

Type

journal article in Scopus

Language

English

Original 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

Keywords

Narrow passage, cell decomposition, minimum spanning tree MST, Motion planning, sampling based

Authors

ABBADI, A.; MATOUŠEK, R.; KNISPEL, L.

RIV year

2015

Released

23. 6. 2015

Location

Brno

ISBN

1803-3814

Periodical

Mendel Journal series

Year of study

2015

Number

21

State

Czech Republic

Pages from

131

Pages to

138

Pages count

8

BibTex

@article{BUT115144,
  author="Ahmad {Abbadi} and Radomil {Matoušek} and Lukáš {Knispel}",
  title="Narrow passage identification using cell decomposition approximation and minimum spanning tree",
  journal="Mendel Journal series",
  year="2015",
  volume="2015",
  number="21",
  pages="131--138",
  issn="1803-3814"
}