2026-04-13T14:53:41Zhttps://recercat.cat/oai/request

oai:recercat.cat:10256/283442026-03-05T20:11:08Zcom_2072_452992com_2072_2054col_2072_452994

A Bug-based Path Planner Guided with Homotopy Classes Hernàndez Bes, Emili Carreras Pérez, Marc Ridao Rodríguez, Pere Robòtica Robotics Algorismes Algorithms This paper proposes a bug-based path planning algorithm guided topologically with homotopy classes. Homotopy classes provide a topological description of how paths avoid obstacles in the workspace. They are generated with a method we developed, which builds a topological environment based on the workspace that allows to compute homotopy classes systematically. The homotopy classes are sorted according to a heuristic estimation of their lower bound. Only those with the smaller lower bound are used to guide the path planner we propose, called Homotopic Bug (HBug), which efficiently computes paths in the workspace that accomplish homotopy classes. Results show the feasibility of our method. A comparison with well-known path planners has also been included 2026-03-05T20:11:08Z 2026-03-05T20:11:08Z 2026-03-05T20:11:08Z 2012 info:eu-repo/semantics/bookPart info:eu-repo/semantics/publishedVersion peer-reviewed https://hdl.handle.net/10256/28344 info:eu-repo/semantics/altIdentifier/doi/10.5220/0004041201230131 info:eu-repo/semantics/altIdentifier/issn/2184-2809 info:eu-repo/semantics/altIdentifier/isbn/978-989-8565-22-8 Attribution-NonCommercial-NoDerivatives 4.0 International http://creativecommons.org/licenses/by-nc-nd/4.0/ info:eu-repo/semantics/openAccess SciTePress ICINCO 2012: Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics: July 28-31, 2012, in Rome, Italy: volume 2, SciTePress, 2012, pp. 123-131 Llibres / Capítols de LLibre (D-ATC)