|
Title:
|
C-space decomposition using deterministic sampling and distances
|
|
Author:
|
Rosell Gratacòs, Jan; Vázquez Hurtado, Carlos; Pérez, Alexander
|
|
Other authors:
|
Universitat Politècnica de Catalunya. Institut d'Organització i Control de Sistemes Industrials |
|
Abstract:
|
Hierarchical cell decompositions of Configuration Space can be of great value for enhancing sampling-based path planners, as well as for other robotic tasks with requirements beyond the planning of free paths. This paper proposes an efficient method to obtain a hierarchical cell decomposition of C-space that is based on: a) the use of a deterministic sampling sequence that allows an uniform and incremental exploration of the space, and b) the use of distance measurements to handle as much information as possible from each sample in order to make the procedure more efficient. The proposed cell decomposition procedure is applied to different path planning methods. |
|
Abstract:
|
Peer Reviewed |
|
Subject(s):
|
-Àrees temàtiques de la UPC::Informàtica::Robòtica
-Robotics
-C-space
-Decomposition
-Deterministic sampling
-Path planning
-Configuration Space
-Espacio de configuración
-Espai de configuració
-Mostratge determinista
-Descomposició
-Descomposición
-Muestreo determinista
-Planificació de la trajectòria
-Planificación de la trayectoria
-Robòtica |
|
Rights:
|
|
|
Document type:
|
Conference Object |
|
Published by:
|
Institute of Electrical and Electronics Engineers
|
|
Share:
|
|
