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Path planning using harmonic functions and probabilistic cell decomposition
Rosell Gratacòs, Jan; Iñíguez Galbete, Pedro
Universitat Politècnica de Catalunya. Institut d'Organització i Control de Sistemes Industrials
Potential-field approach based on harmonic functions have good path planning properties, although the explicit knowledge of the robot’s Configuration Space is required. To overcome this drawback, a combination with a random sampling scheme is proposed. Harmonic functions are computed over computed over a 2d –tree decomposition of a d-dimensional Configuration Space that is obtained with a probabilistic cell decomposition (sampling and classification). Cell sampling is biased towards the more promising regions by using the harmonic function values. Cell classification is performed by evaluating a set of configurations of the cell obtained with a deterministic sampling sequence that provides a good uniform and incremental coverage of the cell. The proposed planning framework open the use of harmonic functions to higher dimensional C-spaces.
Àrees temàtiques de la UPC::Informàtica::Robòtica
Robot control systems
Harmonic functions
Robòtica -- Informes tècnics
Attribution-NonCommercial-NoDerivs 2.5 Spain
http://creativecommons.org/licenses/by-nc-nd/2.5/es/
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