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Ministerio de Ciencia e Innovación (Espanya) | |
Hernà ndez Bes, Emili
Carreras Pérez, Marc Ridao RodrÃguez, Pere |
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2015 January 1 | |
This paper addresses the path planning problem for robotic applications using homotopy classes. These classes provide a topological description of how paths avoid obstacles, which is an added value to the path planning problem. Homotopy classes are generated and sorted according to a lower bound heuristic estimator using a method we developed. Then, the classes are used to constrain and guide path planning algorithms. Three different path planners are presented and compared: a graph-search algorithm called Homotopic A∗ (HA∗), a probabilistic sample-based algorithm called Homotopic RRT (HRRT), and a bug-based algorithm called Homotopic Bug (HBug). Our method has been tested in simulation and in an underwater bathymetric map to compute the trajectory of an Autonomous Underwater Vehicle (AUV). A comparison with well-known path planning algorithms has also been included. Results show that our homotopic path planners improve the quality of the solutions of their respective non-homotopic versions with similar computation time while keeping the topological constraints This research was sponsored by the Spanish Government under the grant DPI2011-27977-C03-02 and the TRIDENT EU FP7-Project under the Grant Agreement No. ICT-248497 |
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application/pdf | |
http://hdl.handle.net/10256/11331 | |
eng | |
Elsevier | |
info:eu-repo/semantics/altIdentifier/doi/10.1016/j.robot.2014.10.021 info:eu-repo/semantics/altIdentifier/issn/0921-8890 info:eu-repo/grantAgreement/MICINN//DPI2011-27977-C03-02/ES/COMAROB: ROBOTICA COOPERATIVA MARINA PARA EL MAPEO ACUSTICO Y LA INTERVENCION/ info:eu-repo/grantAgreement/EC/FP7/248497/EU/Marine Robots and Dexterous Manipulation for Enabling Autonomous Underwater Multipurpose Intervention Missions/TRIDENT |
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Tots els drets reservats | |
Robots -- Moviment
Robots -- Motion Homotopia, Teoria d’ Homotopy theory Vehicles submergibles Submersibles |
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A comparison of homotopic path planning algorithms for robotic applications | |
info:eu-repo/semantics/article | |
DUGiDocs |