Fast algorithm of planning a robot's path in 2-dimensional space on the basis of triangulation
URI (for links/citations):https://sgemworld.at/sgemlib/spip.php?article8544&lang=en
Dmitry N. Aldoshkin
Alexander N. Pupkov
Roman Yu. Tsarev
Институт управления бизнес-процессами и экономики
Институт космических и информационных технологий
Journal Name:Informatics, geoinformatics and remote sensing conference proceedings
Journal Quartile in Web of Science:без квартиля
Bibliographic Citation:Dmitry N. Aldoshkin. Fast algorithm of planning a robot's path in 2-dimensional space on the basis of triangulation [Текст] / Dmitry N. Aldoshkin, Alexander N. Pupkov, Roman Yu. Tsarev // Informatics, geoinformatics and remote sensing conference proceedings: International Multidisciplinary Scientific GeoConference-SGEM. — 2016. — Т. 1. — С. 219-230
This article describes an approach to solution of a problem of planning a mobile robot's path in 2-dimentional space with obstacles. It gives the problem statement, which implies that there is no prior information about surrounding environment. It is supposed that the robot gathers real-time information via on-board sensors. The article also presents a theoretical analysis of such approach performance, along with comparison of the proposed approach to the existing ones, and demonstration of the suggested one's advantages. The simulation experiment results fully proving the theoretical thesis are also represented.
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