D 2015

Narrow passage identification using cell decomposition approximation and minimum spanning tree

ABBADI, Ahmad; Radomil MATOUSEK a Lukas KNISPEL

Základní údaje

Originální název

Narrow passage identification using cell decomposition approximation and minimum spanning tree

Autoři

ABBADI, Ahmad; Radomil MATOUSEK a Lukas KNISPEL

Vydání

Brno, International Conference of Soft Computing, Mendel Journal series, od s. 131-138, 8 s. 2015

Nakladatel

BUT FME

Další údaje

Jazyk

angličtina

Typ výsledku

Stať ve sborníku

Obor

Informatika

Stát vydavatele

Česká republika

Utajení

není předmětem státního či obchodního tajemství

Forma vydání

elektronická verze "online"

Označené pro přenos do RIV

Ano

Kód RIV

RIV/00216224:14330/15:00083544

Organizace

Fakulta informatiky – Masarykova univerzita – Repozitář

ISSN

Klíčová slova anglicky

Narrow passage; cell decomposition; minimum spanning tree MST; Motion planning; sampling based algorithm
Změněno: 2. 9. 2020 05:34, RNDr. Daniel Jakubík

Anotace

V originále

Narrow passage problem is a problematic issue facing the sampling-based motion planner. In this paper, a new approach for narrow areas identification is proposed. The quad-tree cell-decomposition approximation is used to divide the free workspace into smaller cells, and build a graph of adjacency for these. The proposed method follows the graph edges and finds a sequence of cells, which have the same size, preceded and followed by a bigger cell size. The sequence, which has the pattern bigger-smaller-bigger cells size, is more likely to be located in a narrow area. The minimum spanning tree algorithm is used, to linearize adjacency graph. Many methods have been proposed to manipulate the edges cost in the graph, in order to make the generated spanning tree traverse through narrow passages in detectable ways. Five methods have been proposed, some of them give bad results, and the others give better on in simulations
Zobrazeno: 9. 5. 2026 07:36