Utilize este identificador para referenciar este registo:
https://hdl.handle.net/1822/53785
Registo completo
Campo DC | Valor | Idioma |
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dc.contributor.author | Pereira, Nino | por |
dc.contributor.author | Ribeiro, A. Fernando | por |
dc.contributor.author | Lopes, Gil | por |
dc.contributor.author | Lino, Jorge | por |
dc.date.accessioned | 2018-03-31T20:09:16Z | - |
dc.date.available | 2018-03-31T20:09:16Z | - |
dc.date.issued | 2016 | - |
dc.identifier.issn | 0143-991X | por |
dc.identifier.uri | https://hdl.handle.net/1822/53785 | - |
dc.description.abstract | Purpose – The purpose of this paper is to characterise the TWIN-RRT algorithm which solves a motion planning problem in which an agent has multiple possible targets where none of them is compulsory and retrieves feasible, “low cost”, asymptotically optimal and probabilistically complete paths. The TWIN-RRT algorithm solves path planning problems for both holonomic and non-holonomic robots with or without kinematic constraints in a 2D environment. Design/methodology/approach – It was designed to work equally well with higher degree of freedom agents in different applications. It provides a practical implementation of feasible and fast planning, namely where a closed loop is required. Initial and final configurations are allowed to be exactly the same. Findings – The TWIN-RRT algorithm computes an efficient path for a single agent towards multiple targets where none of them is mandatory. It inherits the low computational cost, probabilistic completeness and asymptotical optimality from RRT . Research limitations/implications – It uses efficiency as cost function, which can be adjusted to the requirements of any given application. TWIN-RRT also shows compliance with kinematic constraints. Practical implications – The practical application where this work has been used consists of an autonomous mobile robot that picks up golf balls in a driving range. The multiple targets are the golf balls and the optimum path is a requirement to reduce the time and energy to refill as quickly as possible the balls dispensing machine. Originality/value – The new random sampling algorithm – TWIN-RRT – is able to generate feasible efficient paths towards multiple targets retrieving closed-loop paths starting and finishing at the same configuration. | por |
dc.description.sponsorship | The authors would like to thank the Portuguese Science Foundation FCT "Fundacao para a Ciencia e Tecnologia" for the PhD Grant No. SFRH/BD/43,008/2008, the Portuguese Golf Federation, and Mecanarte, Metalurgica da Lagoa Lda for all the support. They would also like to extend their gratitude to Dr Daniel Whitney for all his invaluable guidance and support throughout the project.The project GOLFmINHO no 1583 was co-financed by European community fund FEDER (Fundo Europeu de Desenvolvimento Regional), approved by QREN (Quadro de Referencia Estrategico Nacional, Portugal 2007.2013) and supported by ON.2 (o Novo Norte - Programa Operacional da Regiao Norte), CCDRn (Comissao de Coordenacao e Desenvolvimento Regional do Norte) and ADI (Agencia de Inovacao). | por |
dc.language.iso | eng | por |
dc.publisher | Emerald | por |
dc.rights | restrictedAccess | por |
dc.rights.uri | http://creativecommons.org/licenses/by/4.0/ | por |
dc.subject | Multiple targets | por |
dc.subject | Path planning | por |
dc.subject | Motion planning | por |
dc.subject | Golf ball picking robot | por |
dc.subject | RRT | por |
dc.subject | TWIN-RRT | por |
dc.title | Path planning towards non-compulsory multiple targets using TWIN-RRT* | por |
dc.type | article | por |
dc.peerreviewed | yes | por |
oaire.citationStartPage | 370 | por |
oaire.citationEndPage | 379 | por |
oaire.citationIssue | 4 | por |
oaire.citationVolume | 43 | por |
dc.identifier.doi | 10.1108/IR-02-2016-0069 | por |
dc.subject.fos | Engenharia e Tecnologia::Engenharia Eletrotécnica, Eletrónica e Informática | por |
dc.description.publicationversion | info:eu-repo/semantics/publishedVersion | por |
dc.subject.wos | Science & Technology | por |
sdum.journal | Industrial Robot-An International Journal | por |
Aparece nas coleções: | CAlg - Artigos em revistas internacionais / Papers in international journals |
Ficheiros deste registo:
Ficheiro | Descrição | Tamanho | Formato | |
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IR-02-2016-0069 final.pdf Acesso restrito! | 508,9 kB | Adobe PDF | Ver/Abrir |
Este trabalho está licenciado sob uma Licença Creative Commons