About: A Sampling Schema for Rapidly Exploring Random Trees Using a Guiding Path

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rdf:type	skos:Concept http://linked.opendata.cz/ontology/domain/vavai/Vysledek
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)
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)
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)
skos:notation	RIV/68407700:21230/11:00182177!RIV12-MSM-21230___
http://linked.open...avai/riv/aktivita	P S
http://linked.open...avai/riv/aktivity	P(1M0567), P(7E08006), S
http://linked.open...vai/riv/dodaniDat	2012
http://linked.open...aciTvurceVysledku	Přeučil, Libor Vonásek, Vojtěch Krajník, Tomáš Faigl, Jan
http://linked.open.../riv/druhVysledku	O - Ostatní výsledky nezařaditelné do žádného z výše uvedených druhů výsledku
http://linked.open...iv/duvernostUdaju	S - Úplné a pravdivé údaje nepodléhající ochraně podle zvláštních právních předpisů
http://linked.open...titaPredkladatele	České vysoké učení technické v Praze / Fakulta elektrotechnická
http://linked.open...dnocenehoVysledku	184125
http://linked.open...ai/riv/idVysledku	RIV/68407700:21230/11:00182177
http://linked.open...riv/jazykVysledku	eng - angličtina
http://linked.open.../riv/klicovaSlova	Motion planning; rapidly exploring random trees (en)
http://linked.open.../riv/klicoveSlovo	Motion planning rapidly exploring random trees
http://linked.open...ontrolniKodProRIV	[BEE552B72482]
http://linked.open...in/vavai/riv/obor	JC
http://linked.open...ichTvurcuVysledku	4 (xsd:int)
http://linked.open...cetTvurcuVysledku	4 (xsd:int)
http://linked.open...vavai/riv/projekt	Centre for Applied Cybernetics Robotic Evolutionary Self-Programming and Self-Assembling Organisms
http://linked.open...UplatneniVysledku	2011
http://linked.open...iv/tvurceVysledku	Faigl, Jan Krajník, Tomáš Přeučil, Libor Vonásek, Vojtěch
http://localhost/t...ganizacniJednotka	21230

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