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Algorithmic generation of path fragment covers for mobile robot path planning

Willemson, J.; Kruusmaa, M. (2006). Algorithmic generation of path fragment covers for mobile robot path planning. 2006 3rd International IEEE Conference on Intelligent Systems: 2006 3rd International IEEE Conference on Intelligent Systems; London; 4-6 September 2006. London: IEEE, 660−665.
publitseeritud konverentsiettekanne
Willemson, J.; Kruusmaa, M.
2006 3rd International IEEE Conference on Intelligent Systems
2006 3rd International IEEE Conference on Intelligent Systems; London; 4-6 September 2006
London
IEEE
9781424401956
2006
660665
Ilmunud
3.1. Artiklid/peatükid lisas loetletud kirjastuste välja antud kogumikes (kaasa arvatud Thomson Reuters Book Citation Index, Thomson Reuters Conference Proceedings Citation Index, Scopus refereeritud kogumikud)

Viited terviktekstile

Lisainfo

M1 - Copyright 2007, The Institution of Engineering and Technology; U1 - 9353685; U2 - path fragment cover generation; U2 - mobile robot path planning; U2 - grid maps; U2 - grid path algorithms, This paper describes a framework for mobile robot path planning in dynamic environments where the environments are represented by grid maps. The planning heuristics considered in the paper is to generate the minimal set of paths so that all the possible path fragments of two edges are covered. We show that the number of required paths is linear in the dimensions of the grid (thus making application of the approach realistic and scalable). The main contribution of the paper is the description of all the minimal covers by means of an efficient algorithm. We prove its correctness and conclude that there are 2(m-1)(n-2)(m-2)(n-1) minimal path fragment covers in an m×n grid
mobile robots, path planning