The use of autonomous vehicle/robot has been adopted widely to replace human beings in performing dangerous missions in adverse environments. Keeping this in mind, path planning ensures that the autonomous vehicle must safely arrive to its destination with required criteria like lower computation time, shortest travelled path and completeness. There are few kinds of path planning strategies, such as combinatorial method, sampling based method and bio-inspired method. Among them, combinatorial method can accomplish couple of criteria without further adjustment in conventional algorithm. Configuration space provides detailed information about the position of all points in the system and it is the space for all configurations. Therefore, C-space denotes the actual free space zone for the movement of robot and guarantees that the vehicle or robot must not collide with the obstacle. This paper analyses different C-Space representation techniques under combinatorial method based on the past researches and their findings with different criteria such as optimality, completeness, safety, memory uses, real time and computational time etc. Visibility Graph has optimality which is a unique from other


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    Comparison of different configuration space representations for path planning under combinatorial method


    Beteiligte:

    Erscheinungsdatum :

    2019-04-01


    Anmerkungen:

    oai:zenodo.org:4420887
    Indonesian Journal of Electrical Engineering and Computer Science 14(1) 1-8



    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Klassifikation :

    DDC:    629




    Sampling-Based Path Planning on Configuration-Space Costmaps

    Jaillet, Léonard / Cortés, Juan / Simeon, Thierry | BASE | 2010

    Freier Zugriff

    Sampling-based path planning on configuration-space costmaps

    Jaillet, Leonard Georges / Cortés, Juan / Simeon, Thierry | BASE | 2010

    Freier Zugriff

    Anytime path planning in graduated state space

    Zhang, Haojie / Xiong, Guangming / Su, Bo et al. | IEEE | 2013



    PATH PLANNING DEVICE, PATH PLANNING METHOD, AND PATH PLANNING PROGRAM

    KAWAKITA KOJI | Europäisches Patentamt | 2021

    Freier Zugriff