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"
}