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rdf:type
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Description
| - In this paper, a novel sampling schema for Rapidly Exploring Random Trees (RRT) is proposed to address the narrow passage issue. The introduced method employs a guiding path to steer the tree growth towards a given goal. The main idea of the proposed approach stands in a preference of the sampling of the configuration space C along a given guiding path instead of sampling of the whole space. While for a low-dimensional C the guiding path can be found as a geometric path in the robot workspace, such a path does not provide useful information for efficient sampling of a high-dimensional C. We propose an iterative scaling approach to find a guiding path in such high-dimensional configuration spaces. The approach starts with a scaled geometric model of the robot to a fraction of its original size for which a guiding path is found using the RRT algorithm. Then, such a path is iteratively used in the proposed RRT-Path algorithm for a larger robot up to its original size
- In this paper, a novel sampling schema for Rapidly Exploring Random Trees (RRT) is proposed to address the narrow passage issue. The introduced method employs a guiding path to steer the tree growth towards a given goal. The main idea of the proposed approach stands in a preference of the sampling of the configuration space C along a given guiding path instead of sampling of the whole space. While for a low-dimensional C the guiding path can be found as a geometric path in the robot workspace, such a path does not provide useful information for efficient sampling of a high-dimensional C. We propose an iterative scaling approach to find a guiding path in such high-dimensional configuration spaces. The approach starts with a scaled geometric model of the robot to a fraction of its original size for which a guiding path is found using the RRT algorithm. Then, such a path is iteratively used in the proposed RRT-Path algorithm for a larger robot up to its original size (en)
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Title
| - A Sampling Schema for Rapidly Exploring Random Trees Using a Guiding Path
- A Sampling Schema for Rapidly Exploring Random Trees Using a Guiding Path (en)
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skos:prefLabel
| - A Sampling Schema for Rapidly Exploring Random Trees Using a Guiding Path
- A Sampling Schema for Rapidly Exploring Random Trees Using a Guiding Path (en)
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skos:notation
| - RIV/68407700:21230/11:00182177!RIV12-MSM-21230___
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http://linked.open...avai/riv/aktivita
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http://linked.open...avai/riv/aktivity
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http://linked.open...vai/riv/dodaniDat
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http://linked.open...aciTvurceVysledku
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http://linked.open.../riv/druhVysledku
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http://linked.open...iv/duvernostUdaju
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http://linked.open...titaPredkladatele
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http://linked.open...dnocenehoVysledku
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http://linked.open...ai/riv/idVysledku
| - RIV/68407700:21230/11:00182177
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http://linked.open...riv/jazykVysledku
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http://linked.open.../riv/klicovaSlova
| - Motion planning; rapidly exploring random trees (en)
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http://linked.open.../riv/klicoveSlovo
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http://linked.open...ontrolniKodProRIV
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http://linked.open...in/vavai/riv/obor
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http://linked.open...ichTvurcuVysledku
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http://linked.open...cetTvurcuVysledku
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http://linked.open...vavai/riv/projekt
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http://linked.open...UplatneniVysledku
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http://linked.open...iv/tvurceVysledku
| - Faigl, Jan
- Krajník, Tomáš
- Přeučil, Libor
- Vonásek, Vojtěch
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http://localhost/t...ganizacniJednotka
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