Publication detail

SPATIAL GUIDANCE TO RRT PLANNER USING CELL-DECOMPOSITION ALGORITHM

ABBADI, A. MATOUŠEK, R. OŠMERA, P. KNISPEL, L.

English title

SPATIAL GUIDANCE TO RRT PLANNER USING CELL-DECOMPOSITION ALGORITHM

Type

Paper in proceedings (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.

Keywords in English

RRTs, Cell-decomposition, hybrid planner, randomize samples-based planners, Robot, path planning, motion planning.

Released

2014-06-25

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

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",
  series="2014",
  journal="Mendel Journal series",
  volume="2014",
  number="1",
  pages="273--278",
  publisher="VUT",
  address="Brno",
  doi="10.13140/2.1.3411.2006",
  isbn="978-80-214-4984-8",
  issn="1803-3814"
}