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Artificial potential biased probabilistic roadmap method
KTH, Tidigare Institutioner, Numerisk analys och datalogi, NADA.
KTH, Tidigare Institutioner, Numerisk analys och datalogi, NADA.ORCID-id: 0000-0003-2965-2953
KTH, Tidigare Institutioner, Numerisk analys och datalogi, NADA.
2004 (engelsk)Inngår i: 2004 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1- 5, PROCEEDINGS, 2004, s. 461-466Konferansepaper, Publicerat paper (Fagfellevurdert)
Abstract [en]

Probabilistic roadmap methods (PRMs) have been successfully used to solve difficult path planning problems but their efficiency is limited when the free space contains narrow passages through which the robot must pass. This paper presents a new sampling scheme that aims to increase the probability of finding paths through narrow passages. Here, a biased sampling scheme is used to increase the distribution of nodes in narrow regions of the free space. A partial computation of the artificial potential field is used to bias the distribution of nodes.

sted, utgiver, år, opplag, sider
2004. s. 461-466
Serie
IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, ISSN 1050-4729
HSV kategori
Identifikatorer
URN: urn:nbn:se:kth:diva-44357DOI: 10.1109/ROBOT.2004.1307192ISI: 000221794800073Scopus ID: 2-s2.0-3042621783ISBN: 0-7803-8232-3 (tryckt)OAI: oai:DiVA.org:kth-44357DiVA, id: diva2:450899
Konferanse
IEEE International Conference on Robotics and Automation Location: New Orleans, LA Date: APR 26-MAY 01, 2004
Merknad
QC 20111024Tilgjengelig fra: 2011-10-24 Laget: 2011-10-20 Sist oppdatert: 2012-01-24bibliografisk kontrollert

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