Detail publikace
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.
Český název
A NOTE ABOUT PSEUDO3D GRID APPROXIMATION OF LANDSCAPE FOR A HOLONOMIC ROBOT PATH PLANNING WITH NAÏVE PATH OPTIMIZATION
Anglický název
A NOTE ABOUT PSEUDO3D GRID APPROXIMATION OF LANDSCAPE FOR A HOLONOMIC ROBOT PATH PLANNING WITH NAÏVE PATH OPTIMIZATION
Typ
článek v časopise ve Scopus, Jsc
Jazyk
en
Originální abstrakt
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.
Český abstrakt
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.
Anglický abstrakt
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.
Klíčová slova anglicky
path planning, Dijkstra’s algorithm, holonomic robot, weighted graph, path optimization
Rok RIV
2015
Vydáno
23.06.2015
Místo
Brno
ISSN
1803-3814
Ročník
2015
Číslo
21
Strany od–do
127–130
Počet stran
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"
}