es | en | pt | fr
    • Presentación
    • Países
    • Instituciones
    • Participa
        JavaScript is disabled for your browser. Some features of this site may not work without it.
        Ver ítem 
        •   Inicio
        • Colombia
        • Universidades
        • Universidad Tecnológica de Bolivar UTB (Colombia)
        • Ver ítem
        •   Inicio
        • Colombia
        • Universidades
        • Universidad Tecnológica de Bolivar UTB (Colombia)
        • Ver ítem

        Smoothing of Robotic Navigation Trajectories, Based on a Tessellation Generated Weighted Skeleton, Based on Wavefront Dilation and Collisions

        Fecha
        2020-10-08
        Registro en:
        Ladino I., Penagos O., Sáenz-Cabezas B., Pastrana Y. (2020) Smoothing of Robotic Navigation Trajectories, Based on a Tessellation Generated Weighted Skeleton, Based on Wavefront Dilation and Collisions. In: Figueroa-García J.C., Garay-Rairán F.S., Hernández-Pérez G.J., Díaz-Gutierrez Y. (eds) Applied Computer Sciences in Engineering. WEA 2020. Communications in Computer and Information Science, vol 1274. Springer, Cham. https://doi.org/10.1007/978-3-030-61834-6_9
        https://hdl.handle.net/20.500.12585/9563
        https://link.springer.com/chapter/10.1007/978-3-030-61834-6_9
        10.1007/978-3-030-61834-6_9
        Universidad Tecnológica de Bolívar
        Repositorio Universidad Tecnológica de Bolívar
        http://repositorioslatinoamericanos.uchile.cl/handle/2250/3728888
        Autor
        Ladino, I.
        Penagos, O.
        Sáenz-Cabezas, B.
        Pastrana, Y.
        Institución
        • Universidad Tecnológica de Bolivar UTB (Colombia)
        Resumen
        Discretization processes adapted to robotic configuration spaces designed to limit the possible positions and movements of a robot in a continuous environment, have been based mainly on four methods for robotic motion planning: potential fields based, cell decomposition, roadmaps and sampling. However, these methods are not suitable for finding smooth routes through obstacles, and at he same time, avoiding collisions and taking into account the dimensions of the robot. This work proposes a new tessellation method using Bézier curves, which facilitates drawing of smooth curves while respecting restrictions imposed by the environment. The method takes into account the dimensions of the robot and, through a vector description of the configuration space, it constructs a skeleton of the configuration space between obstacles, where each point of the skeleton, in addition to having information on its coordinate, includes information about the transverse distance between objects at each point of the skeleton.
        Materias

        Mostrar el registro completo del ítem


        Red de Repositorios Latinoamericanos
        + de 8.000.000 publicaciones disponibles
        500 instituciones participantes
        Dirección de Servicios de Información y Bibliotecas (SISIB)
        Universidad de Chile
        Ingreso Administradores
        Colecciones destacadas
        • Tesis latinoamericanas
        • Tesis argentinas
        • Tesis chilenas
        • Tesis peruanas
        Nuevas incorporaciones
        • Argentina
        • Brasil
        • Colombia
        • México
        Dirección de Servicios de Información y Bibliotecas (SISIB)
        Universidad de Chile
        Red de Repositorios Latinoamericanos | 2006-2018
         

        EXPLORAR POR

        Instituciones
        Fecha2011 - 20202001 - 20101951 - 20001901 - 19501800 - 1900

        Explorar en Red de Repositorios

        Países >
        Tipo de documento >
        Fecha de publicación >
        Instituciones >

        Red de Repositorios Latinoamericanos
        + de 8.000.000 publicaciones disponibles
        500 instituciones participantes
        Dirección de Servicios de Información y Bibliotecas (SISIB)
        Universidad de Chile
        Ingreso Administradores
        Colecciones destacadas
        • Tesis latinoamericanas
        • Tesis argentinas
        • Tesis chilenas
        • Tesis peruanas
        Nuevas incorporaciones
        • Argentina
        • Brasil
        • Colombia
        • México
        Dirección de Servicios de Información y Bibliotecas (SISIB)
        Universidad de Chile
        Red de Repositorios Latinoamericanos | 2006-2018