Publication detail
SPATIAL GUIDANCE TO RRT PLANNER USING CELL-DECOMPOSITION ALGORITHM
ABBADI, A. MATOUŠEK, R. OŠMERA, P. KNISPEL, L.
Original Title
SPATIAL GUIDANCE TO RRT PLANNER USING CELL-DECOMPOSITION ALGORITHM
Type
conference paper
Language
English
Original Abstract
Motion planning is problematic issue in robotics domain. In this paper we compare very well-known planners, the probabilistic path planning method Rapidly Exploring Random Tree (RRT) and spatial planner as exact Cells-decomposition (CD). We try to make some tradeoff between the efficiency of planning using CD in 2D space and dynamic of planning using RRT by giving the path-point of CD to RRTs planner as spatial guidance to overcome the drawback of this two planners.
Keywords
RRTs, Cell-decomposition, hybrid planner, randomize samples-based planners, Robot, path planning, motion planning.
Authors
ABBADI, A.; MATOUŠEK, R.; OŠMERA, P.; KNISPEL, L.
RIV year
2014
Released
25. 6. 2014
Publisher
VUT
Location
Brno
ISBN
978-80-214-4984-8
Book
20th International Conference on Soft Computing, MENDEL 2014 (id 22122)
Edition
2014
Edition number
1
ISBN
1803-3814
Periodical
Mendel Journal series
Year of study
2014
Number
1
State
Czech Republic
Pages from
273
Pages to
278
Pages count
6
BibTex
@inproceedings{BUT108717,
author="Ahmad {Abbadi} and Radomil {Matoušek} and Pavel {Ošmera} and Lukáš {Knispel}",
title="SPATIAL GUIDANCE TO RRT PLANNER USING CELL-DECOMPOSITION ALGORITHM",
booktitle="20th International Conference on Soft Computing, MENDEL 2014 (id 22122)",
year="2014",
series="2014",
journal="Mendel Journal series",
volume="2014",
number="1",
pages="273--278",
publisher="VUT",
address="Brno",
doi="10.13140/2.1.3411.2006",
isbn="978-80-214-4984-8",
issn="1803-3814"
}