Publication
The K-framed quadtrees approach for path planning through a known environment
| dc.contributor.author | Rodrigues, Ana Rita Marques | |
| dc.contributor.author | Costa, Pedro | |
| dc.contributor.author | Lima, José | |
| dc.date.accessioned | 2018-01-25T10:00:00Z | |
| dc.date.accessioned | 2018-02-06T11:09:01Z | |
| dc.date.available | 2018-01-25T10:00:00Z | |
| dc.date.available | 2018-02-06T11:09:01Z | |
| dc.date.issued | 2018 | |
| dc.description.abstract | One of the most important tasks for a mobile robot is to navigate in an environment. The path planning is required to design the trajectory that generates useful motions from the original to the desired position. There are several methodologies to perform the path planning. In this paper, a new method of approximate cells decomposition, called K-Framed Quadtrees is present, to which the algorithm A ⋆ is applied to determine trajectories between two points. To validate the new approach, we made a comparative analysis between the present method, the grid decomposition, quadtree decomposition and framed quadtree decomposition. Results and implementation specifications of the four methods are presented. | en_EN |
| dc.description.sponsorship | Project ”TEC4Growth - Pervasive Intelligence, Enhancers and Proofs of Concept with Industrial Impact/NORTE-01-0145-FEDER-000020” is financed by the North Portugal Regional Operational. Programme (NORTE 2020), under the PORTUGAL 2020 Partnership Agreement, and through the European Regional Development Fund (ERDF). This work is also financed by the ERDF – European Regional Development Fund through the Operational Programme for Competitiveness and Internationalisation - COMPETE 2020 Programme within project POCI-01-0145-FEDER-006961, and by National Funds through the FCT – Fundação para a Ciência e a Tecnologia (Portuguese Foundation for Science and Technology) as part of project UID/EEA/50014/2013. | |
| dc.description.version | info:eu-repo/semantics/publishedVersion | en_EN |
| dc.identifier.citation | Rodrigues, Ana; Costa, Pedro; Lima, José (2018). The K-framed quadtrees approach for path planning through a known environment. Advances in Intelligent Systems and Computing. In ROBOT 2017: Third Iberian Robotics Conference. p. 49-59. ISBN 978-3-319-70832-4 | en_EN |
| dc.identifier.doi | 10.1007/978-3-319-70833-1_5 | en_EN |
| dc.identifier.uri | http://hdl.handle.net/10198/15559 | |
| dc.language.iso | eng | |
| dc.peerreviewed | yes | en_EN |
| dc.subject | Approximate cells decomposition | en_EN |
| dc.subject | K-Framed Quadtree | en_EN |
| dc.subject | Path planning | en_EN |
| dc.title | The K-framed quadtrees approach for path planning through a known environment | en_EN |
| dc.type | conference paper | |
| dspace.entity.type | Publication | |
| oaire.awardURI | info:eu-repo/grantAgreement/FCT/5876/UID%2FEEA%2F50014%2F2013/PT | |
| oaire.fundingStream | 5876 | |
| person.familyName | Lima | |
| person.givenName | José | |
| person.identifier | R-000-8GD | |
| person.identifier.ciencia-id | 6016-C902-86A9 | |
| person.identifier.orcid | 0000-0001-7902-1207 | |
| person.identifier.rid | L-3370-2014 | |
| person.identifier.scopus-author-id | 55851941311 | |
| project.funder.identifier | http://doi.org/10.13039/501100001871 | |
| project.funder.name | Fundação para a Ciência e a Tecnologia | |
| rcaap.rights | openAccess | en_EN |
| rcaap.type | conferenceObject | en_EN |
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