Utilize este identificador para referenciar este registo:
https://hdl.handle.net/1822/53785
Título: | Path planning towards non-compulsory multiple targets using TWIN-RRT* |
Autor(es): | Pereira, Nino Ribeiro, A. Fernando Lopes, Gil Lino, Jorge |
Palavras-chave: | Multiple targets Path planning Motion planning Golf ball picking robot RRT TWIN-RRT |
Data: | 2016 |
Editora: | Emerald |
Revista: | Industrial Robot-An International Journal |
Resumo(s): | 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. |
Tipo: | Artigo |
URI: | https://hdl.handle.net/1822/53785 |
DOI: | 10.1108/IR-02-2016-0069 |
ISSN: | 0143-991X |
Arbitragem científica: | yes |
Acesso: | Acesso restrito UMinho |
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