Detail publikace

SPATIAL GUIDANCE TO RRT PLANNER USING CELL-DECOMPOSITION ALGORITHM

Originální název

SPATIAL GUIDANCE TO RRT PLANNER USING CELL-DECOMPOSITION ALGORITHM

Anglický název

SPATIAL GUIDANCE TO RRT PLANNER USING CELL-DECOMPOSITION ALGORITHM

Jazyk

en

Originální abstrakt

Motion planning is problematic issue in robotics domain. In this paper we compare very well-known planners, the probabilistic path planning method Rapidly Exploring Random Tree (RRT) and spatial planner as exact Cells-decomposition (CD). We try to make some tradeoff between the efficiency of planning using CD in 2D space and dynamic of planning using RRT by giving the path-point of CD to RRTs planner as spatial guidance to overcome the drawback of this two planners.

Anglický abstrakt

Motion planning is problematic issue in robotics domain. In this paper we compare very well-known planners, the probabilistic path planning method Rapidly Exploring Random Tree (RRT) and spatial planner as exact Cells-decomposition (CD). We try to make some tradeoff between the efficiency of planning using CD in 2D space and dynamic of planning using RRT by giving the path-point of CD to RRTs planner as spatial guidance to overcome the drawback of this two planners.

BibTex


@inproceedings{BUT108717,
  author="Ahmad {Abbadi} and Radomil {Matoušek} and Pavel {Ošmera} and Lukáš {Knispel}",
  title="SPATIAL GUIDANCE TO RRT PLANNER USING CELL-DECOMPOSITION ALGORITHM",
  annote="Motion planning is problematic issue in robotics domain. In this paper we compare very well-known planners, the probabilistic path planning method Rapidly Exploring Random Tree (RRT) and spatial planner as exact Cells-decomposition (CD). We try to make some tradeoff between the efficiency of planning using CD in 2D space and dynamic of planning using RRT by giving the path-point of CD to RRTs planner as spatial guidance to overcome the drawback of this two planners.",
  address="VUT",
  booktitle="20th International Conference on Soft Computing, MENDEL 2014 (id 22122)",
  chapter="108717",
  doi="10.13140/2.1.3411.2006",
  edition="2014",
  howpublished="print",
  institution="VUT",
  number="1",
  year="2014",
  month="june",
  pages="273--278",
  publisher="VUT",
  type="conference paper"
}