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Statements

Subject Item
n2:RIV%2F68407700%3A21230%2F11%3A00182177%21RIV12-MSM-21230___
rdf:type
n10:Vysledek skos:Concept
dcterms: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
dcterms: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
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
skos:notation
RIV/68407700:21230/11:00182177!RIV12-MSM-21230___
n10:predkladatel
n11:orjk%3A21230
n3:aktivita
n15:S n15:P
n3:aktivity
P(1M0567), P(7E08006), S
n3:dodaniDat
n7:2012
n3:domaciTvurceVysledku
n9:3933334 n9:7341520 n9:4334175 n9:3276155
n3:druhVysledku
n18:O
n3:duvernostUdaju
n5:S
n3:entitaPredkladatele
n17:predkladatel
n3:idSjednocenehoVysledku
184125
n3:idVysledku
RIV/68407700:21230/11:00182177
n3:jazykVysledku
n14:eng
n3:klicovaSlova
Motion planning; rapidly exploring random trees
n3:klicoveSlovo
n13:rapidly%20exploring%20random%20trees n13:Motion%20planning
n3:kontrolniKodProRIV
[BEE552B72482]
n3:obor
n12:JC
n3:pocetDomacichTvurcuVysledku
4
n3:pocetTvurcuVysledku
4
n3:projekt
n6:7E08006 n6:1M0567
n3:rokUplatneniVysledku
n7:2011
n3:tvurceVysledku
Vonásek, Vojtěch Krajník, Tomáš Faigl, Jan Přeučil, Libor
n16:organizacniJednotka
21230