Title:
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Path planning using harmonic functions and probabilistic cell decomposition
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Author:
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Rosell Gratacòs, Jan; Iñíguez Galbete, Pedro
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Other authors:
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Universitat Politècnica de Catalunya. Institut d'Organització i Control de Sistemes Industrials |
Abstract:
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Potential-field approach based on harmonic functions have good path planning properties, although the explicit knowledge of the robot’s Configuration Space is required. To overcome this drawback, a combination with a random sampling scheme is proposed. Harmonic functions are computed over computed over a 2d –tree decomposition of a d-dimensional Configuration Space that is obtained with a probabilistic cell decomposition (sampling and classification). Cell sampling is biased towards the more promising regions by using the harmonic function values. Cell classification is performed by evaluating a set of configurations of the cell obtained with a deterministic sampling sequence that provides a good uniform and incremental coverage of the cell. The proposed planning framework open the use of harmonic functions to higher dimensional C-spaces. |
Subject(s):
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-Àrees temàtiques de la UPC::Informàtica::Robòtica -Robot control systems -Harmonic functions -Robòtica -- Informes tècnics |
Rights:
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Attribution-NonCommercial-NoDerivs 2.5 Spain
http://creativecommons.org/licenses/by-nc-nd/2.5/es/ |
Document type:
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Report |
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