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.

Anglický název

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

Typ

Článek Scopus

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.

Klíčová slova anglicky

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

Vydáno

2015-06-23

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