Publication detail
A NOTE ABOUT PSEUDO3D GRID APPROXIMATION OF LANDSCAPE FOR A HOLONOMIC ROBOT PATH PLANNING WITH NAÏVE PATH OPTIMIZATION
KNISPEL, L. MATOUŠEK, R. ABBADI, A. DVOŘÁK, J.
Czech title
A NOTE ABOUT PSEUDO3D GRID APPROXIMATION OF LANDSCAPE FOR A HOLONOMIC ROBOT PATH PLANNING WITH NAÏVE PATH OPTIMIZATION
English title
A NOTE ABOUT PSEUDO3D GRID APPROXIMATION OF LANDSCAPE FOR A HOLONOMIC ROBOT PATH PLANNING WITH NAÏVE PATH OPTIMIZATION
Type
journal article in Scopus
Language
en
Original abstract
This article presents a simple method of the approximation of the 3D landscape by a weighted Pseudo3D Dijkstra’s Grid and its usage for the path planning of holonomic robots with omnidirectional platforms in known environments with static obstacles. The surveyed problem is relevant to a number of ordinary applications dealing with 3D surfaces in general. Article proposes a different implementation of the given issue by a grid approach to the approximated digital surface model featuring the Dijkstra’s shortest path algorithm with simple custom postprocessing optimization of the final solution. Three experiments in the custom C++ simulation environment RRT Explorer 3.0 are shown using two distinctive densities of the grid thus demonstrating the diverse levels of the landscape approximation. In the conclusion, the advantages and drawbacks of the offered method are discussed.
Czech abstract
This article presents a simple method of the approximation of the 3D landscape by a weighted Pseudo3D Dijkstra’s Grid and its usage for the path planning of holonomic robots with omnidirectional platforms in known environments with static obstacles. The surveyed problem is relevant to a number of ordinary applications dealing with 3D surfaces in general. Article proposes a different implementation of the given issue by a grid approach to the approximated digital surface model featuring the Dijkstra’s shortest path algorithm with simple custom postprocessing optimization of the final solution. Three experiments in the custom C++ simulation environment RRT Explorer 3.0 are shown using two distinctive densities of the grid thus demonstrating the diverse levels of the landscape approximation. In the conclusion, the advantages and drawbacks of the offered method are discussed.
English abstract
This article presents a simple method of the approximation of the 3D landscape by a weighted Pseudo3D Dijkstra’s Grid and its usage for the path planning of holonomic robots with omnidirectional platforms in known environments with static obstacles. The surveyed problem is relevant to a number of ordinary applications dealing with 3D surfaces in general. Article proposes a different implementation of the given issue by a grid approach to the approximated digital surface model featuring the Dijkstra’s shortest path algorithm with simple custom postprocessing optimization of the final solution. Three experiments in the custom C++ simulation environment RRT Explorer 3.0 are shown using two distinctive densities of the grid thus demonstrating the diverse levels of the landscape approximation. In the conclusion, the advantages and drawbacks of the offered method are discussed.
Keywords in English
path planning, Dijkstra’s algorithm, holonomic robot, weighted graph, path optimization
RIV year
2015
Released
23.06.2015
Location
Brno
ISSN
1803-3814
Volume
2015
Number
21
Pages from–to
127–130
Pages count
4
BIBTEX
@article{BUT116337,
author="Radomil {Matoušek} and Lukáš {Knispel} and Ahmad {Abbadi} and Jiří {Dvořák},
title="A NOTE ABOUT PSEUDO3D GRID APPROXIMATION OF LANDSCAPE FOR A HOLONOMIC ROBOT PATH PLANNING WITH NAÏVE PATH OPTIMIZATION",
year="2015",
volume="2015",
number="21",
month="June",
pages="127--130",
address="Brno",
issn="1803-3814"
}