Publication detail
SPATIAL GUIDANCE TO RRT PLANNER USING CELL-DECOMPOSITION ALGORITHM
ABBADI, A. MATOUŠEK, R. OŠMERA, P. KNISPEL, L.
Czech title
RRT planovač využívající metody rozkladu do buněk s prostorovou indexací
English title
SPATIAL GUIDANCE TO RRT PLANNER USING CELL-DECOMPOSITION ALGORITHM
Type
conference paper
Language
en
Original abstract
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.
Czech abstract
Plánování pohybu patří k problematickým oblastem mobilní robotiky. V tomto prispevku jsou porovnány dobře známé plánovací algoritmy založené na pravděpodobnostní metodě RRT s relativně novým přístupem využívajícím rozklad problému do buněk. Na příkladech ukazujeme efektivitu daných metod.
English abstract
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.
Keywords in Czech
RRT, rozklad do buněk, hybridní plánovač, robot, plánování cest, plánování pohybu.
Keywords in English
RRTs, Cell-decomposition, hybrid planner, randomize samples-based planners, Robot, path planning, motion planning.
RIV year
2014
Released
25.06.2014
Publisher
VUT
Location
Brno
ISBN
978-80-214-4984-8
ISSN
1803-3814
Book
20th International Conference on Soft Computing, MENDEL 2014 (id 22122)
Volume
2014
Number
1
Edition number
1
Pages from–to
273–278
Pages count
6
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",
booktitle="20th International Conference on Soft Computing, MENDEL 2014 (id 22122)",
year="2014",
volume="2014",
number="1",
month="June",
pages="273--278",
publisher="VUT",
address="Brno",
isbn="978-80-214-4984-8",
issn="1803-3814"
}