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.

English title

A NOTE ABOUT PSEUDO3D GRID APPROXIMATION OF LANDSCAPE FOR A HOLONOMIC ROBOT PATH PLANNING WITH NAÏVE PATH OPTIMIZATION

Type

Scopus Article

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.

Keywords in English

path planning, Dijkstra’s algorithm, holonomic robot, weighted graph, path optimization

Released

2015-06-23

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",
  journal="Mendel Journal series",
  year="2015",
  volume="2015",
  number="21",
  pages="127--130",
  issn="1803-3814"
}