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Randomized path planning on manifolds based on higher-dimensional continuation

Autor
Porta, J.; Jaillet, L.G.; Bohigas, O.
Tipus d'activitat
Article en revista
Revista
International journal of robotics research
Data de publicació
2012
Volum
31
Número
2
Pàgina inicial
201
Pàgina final
215
DOI
https://doi.org/10.1177/0278364911432324 Obrir en finestra nova
Repositori
http://hdl.handle.net/2117/17688 Obrir en finestra nova
URL
http://dx.doi.org/10.1177/0278364911432324 Obrir en finestra nova
Resum
Despite the significant advances in path planning methods, highly constrained problems are still challeng- ing. In some situations, the presence of constraints defines a configuration space that is a non-parametrizable manifold embedded in a high dimensional ambient space. In these cases, the use of sampling-based path planners is cumbersome since samples in the ambient space have low probability to lay on the configuration space manifold. In this paper, we present a new path planning algorithm ...
Citació
Porta, J.M.; Jaillet, L.; Bohigas, O. Randomized path planning on manifolds based on higher-dimensional continuation. "International journal of robotics research", 2012, vol. 31, núm. 2, p. 201-215.
Paraules clau
constrained path planning, manifolds, robots PARAULES AUTOR: higher-dimensional continuation
Grup de recerca
KRD - Cinemàtica i Disseny de Robots

Participants