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A Grid-Based Motion Planning Approach for Coherent Groups
Joint Authors
Yue-wen, Fu
Meng, Li
Jia-hong, Liang
Xiao-qian, Hu
Source
Mathematical Problems in Engineering
Issue
Vol. 2014, Issue 2014 (31 Dec. 2014), pp.1-12, 12 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2014-12-28
Country of Publication
Egypt
No. of Pages
12
Main Subjects
Abstract EN
This paper presents a novel motion planning approach for coherent groups with constant area, and it integrates C-L method into the probabilistic roadmap algorithm with sampling on the medial axis (MAPRM).
In the preprocessing phase, the group is discretized into a grid-set which represents the configuration of the group.
Then, a number of samples are generated on workspace by medial axis technique.
These samples are extended into group’s configuration nodes of the roadmap using an extending strategy.
Also, the group's deformation degree relative to the desired shape is introduced to improve the evaluation function.
It gives users more flexibility to determine the respective weights of the group’s deformation degree and its distance to the goal in the query phase.
After that, a novel local planner is constructed to connect any two neighbor configurations by using C-L method and the improved evaluation function.
Experiments show that our approach is able to find paths for the coherent group efficiently and keep its area invariant when moving toward the goal.
American Psychological Association (APA)
Yue-wen, Fu& Meng, Li& Jia-hong, Liang& Xiao-qian, Hu. 2014. A Grid-Based Motion Planning Approach for Coherent Groups. Mathematical Problems in Engineering،Vol. 2014, no. 2014, pp.1-12.
https://search.emarefa.net/detail/BIM-1044261
Modern Language Association (MLA)
Yue-wen, Fu…[et al.]. A Grid-Based Motion Planning Approach for Coherent Groups. Mathematical Problems in Engineering No. 2014 (2014), pp.1-12.
https://search.emarefa.net/detail/BIM-1044261
American Medical Association (AMA)
Yue-wen, Fu& Meng, Li& Jia-hong, Liang& Xiao-qian, Hu. A Grid-Based Motion Planning Approach for Coherent Groups. Mathematical Problems in Engineering. 2014. Vol. 2014, no. 2014, pp.1-12.
https://search.emarefa.net/detail/BIM-1044261
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1044261