The K-framed quadtrees approach for path planning through a known environment

Bibliographic Details
Main Author: Rodrigues, Ana Rita Marques
Publication Date: 2018
Other Authors: Costa, Pedro, Lima, José
Language: eng
Source: Repositórios Científicos de Acesso Aberto de Portugal (RCAAP)
Download full: http://hdl.handle.net/10198/15559
Summary: One of the most important tasks for a mobile robot is to navigate in an environment. The path planning is required to design the trajectory that generates useful motions from the original to the desired position. There are several methodologies to perform the path planning. In this paper, a new method of approximate cells decomposition, called K-Framed Quadtrees is present, to which the algorithm A ⋆ is applied to determine trajectories between two points. To validate the new approach, we made a comparative analysis between the present method, the grid decomposition, quadtree decomposition and framed quadtree decomposition. Results and implementation specifications of the four methods are presented.
id RCAP_999f5d07f17da6ac766e2179270aac8c
oai_identifier_str oai:bibliotecadigital.ipb.pt:10198/15559
network_acronym_str RCAP
network_name_str Repositórios Científicos de Acesso Aberto de Portugal (RCAAP)
repository_id_str https://opendoar.ac.uk/repository/7160
spelling The K-framed quadtrees approach for path planning through a known environmentApproximate cells decompositionK-Framed QuadtreePath planningOne of the most important tasks for a mobile robot is to navigate in an environment. The path planning is required to design the trajectory that generates useful motions from the original to the desired position. There are several methodologies to perform the path planning. In this paper, a new method of approximate cells decomposition, called K-Framed Quadtrees is present, to which the algorithm A ⋆ is applied to determine trajectories between two points. To validate the new approach, we made a comparative analysis between the present method, the grid decomposition, quadtree decomposition and framed quadtree decomposition. Results and implementation specifications of the four methods are presented.Project ”TEC4Growth - Pervasive Intelligence, Enhancers and Proofs of Concept with Industrial Impact/NORTE-01-0145-FEDER-000020” is financed by the North Portugal Regional Operational. Programme (NORTE 2020), under the PORTUGAL 2020 Partnership Agreement, and through the European Regional Development Fund (ERDF). This work is also financed by the ERDF – European Regional Development Fund through the Operational Programme for Competitiveness and Internationalisation - COMPETE 2020 Programme within project POCI-01-0145-FEDER-006961, and by National Funds through the FCT – Fundação para a Ciência e a Tecnologia (Portuguese Foundation for Science and Technology) as part of project UID/EEA/50014/2013.Biblioteca Digital do IPBRodrigues, Ana Rita MarquesCosta, PedroLima, José2018-01-25T10:00:00Z20182018-01-01T00:00:00Zconference objectinfo:eu-repo/semantics/publishedVersionapplication/pdfhttp://hdl.handle.net/10198/15559engRodrigues, Ana; Costa, Pedro; Lima, José (2018). The K-framed quadtrees approach for path planning through a known environment. Advances in Intelligent Systems and Computing. In ROBOT 2017: Third Iberian Robotics Conference. p. 49-59. ISBN 978-3-319-70832-410.1007/978-3-319-70833-1_5info:eu-repo/semantics/openAccessreponame:Repositórios Científicos de Acesso Aberto de Portugal (RCAAP)instname:FCCN, serviços digitais da FCT – Fundação para a Ciência e a Tecnologiainstacron:RCAAP2025-02-25T12:05:29Zoai:bibliotecadigital.ipb.pt:10198/15559Portal AgregadorONGhttps://www.rcaap.pt/oai/openaireinfo@rcaap.ptopendoar:https://opendoar.ac.uk/repository/71602025-05-28T11:32:11.724890Repositórios Científicos de Acesso Aberto de Portugal (RCAAP) - FCCN, serviços digitais da FCT – Fundação para a Ciência e a Tecnologiafalse
dc.title.none.fl_str_mv The K-framed quadtrees approach for path planning through a known environment
title The K-framed quadtrees approach for path planning through a known environment
spellingShingle The K-framed quadtrees approach for path planning through a known environment
Rodrigues, Ana Rita Marques
Approximate cells decomposition
K-Framed Quadtree
Path planning
title_short The K-framed quadtrees approach for path planning through a known environment
title_full The K-framed quadtrees approach for path planning through a known environment
title_fullStr The K-framed quadtrees approach for path planning through a known environment
title_full_unstemmed The K-framed quadtrees approach for path planning through a known environment
title_sort The K-framed quadtrees approach for path planning through a known environment
author Rodrigues, Ana Rita Marques
author_facet Rodrigues, Ana Rita Marques
Costa, Pedro
Lima, José
author_role author
author2 Costa, Pedro
Lima, José
author2_role author
author
dc.contributor.none.fl_str_mv Biblioteca Digital do IPB
dc.contributor.author.fl_str_mv Rodrigues, Ana Rita Marques
Costa, Pedro
Lima, José
dc.subject.por.fl_str_mv Approximate cells decomposition
K-Framed Quadtree
Path planning
topic Approximate cells decomposition
K-Framed Quadtree
Path planning
description One of the most important tasks for a mobile robot is to navigate in an environment. The path planning is required to design the trajectory that generates useful motions from the original to the desired position. There are several methodologies to perform the path planning. In this paper, a new method of approximate cells decomposition, called K-Framed Quadtrees is present, to which the algorithm A ⋆ is applied to determine trajectories between two points. To validate the new approach, we made a comparative analysis between the present method, the grid decomposition, quadtree decomposition and framed quadtree decomposition. Results and implementation specifications of the four methods are presented.
publishDate 2018
dc.date.none.fl_str_mv 2018-01-25T10:00:00Z
2018
2018-01-01T00:00:00Z
dc.type.driver.fl_str_mv conference object
dc.type.status.fl_str_mv info:eu-repo/semantics/publishedVersion
status_str publishedVersion
dc.identifier.uri.fl_str_mv http://hdl.handle.net/10198/15559
url http://hdl.handle.net/10198/15559
dc.language.iso.fl_str_mv eng
language eng
dc.relation.none.fl_str_mv Rodrigues, Ana; Costa, Pedro; Lima, José (2018). The K-framed quadtrees approach for path planning through a known environment. Advances in Intelligent Systems and Computing. In ROBOT 2017: Third Iberian Robotics Conference. p. 49-59. ISBN 978-3-319-70832-4
10.1007/978-3-319-70833-1_5
dc.rights.driver.fl_str_mv info:eu-repo/semantics/openAccess
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv application/pdf
dc.source.none.fl_str_mv reponame:Repositórios Científicos de Acesso Aberto de Portugal (RCAAP)
instname:FCCN, serviços digitais da FCT – Fundação para a Ciência e a Tecnologia
instacron:RCAAP
instname_str FCCN, serviços digitais da FCT – Fundação para a Ciência e a Tecnologia
instacron_str RCAAP
institution RCAAP
reponame_str Repositórios Científicos de Acesso Aberto de Portugal (RCAAP)
collection Repositórios Científicos de Acesso Aberto de Portugal (RCAAP)
repository.name.fl_str_mv Repositórios Científicos de Acesso Aberto de Portugal (RCAAP) - FCCN, serviços digitais da FCT – Fundação para a Ciência e a Tecnologia
repository.mail.fl_str_mv info@rcaap.pt
_version_ 1833591997980475392

Similar Items