کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
---|---|---|---|---|
10326819 | 679649 | 2015 | 14 صفحه PDF | دانلود رایگان |
عنوان انگلیسی مقاله ISI
Performance analysis of fast marching-based motion planning for autonomous mobile robots in ITER scenarios
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کلمات کلیدی
موضوعات مرتبط
مهندسی و علوم پایه
مهندسی کامپیوتر
هوش مصنوعی
پیش نمایش صفحه اول مقاله
![عکس صفحه اول مقاله: Performance analysis of fast marching-based motion planning for autonomous mobile robots in ITER scenarios Performance analysis of fast marching-based motion planning for autonomous mobile robots in ITER scenarios](/preview/png/10326819.png)
چکیده انگلیسی
Operations of transportation in cluttered environments require robust motion planning algorithms. Specially with large and heavy vehicles under hazardous operations of maintenance, such as in the ITER, an international nuclear fusion research project. The load transportation inside the ITER facilities require smooth and optimized paths with safety margin of 30 cm. The transportation is accomplished by large rhombic-like vehicles to exploit its kinematic capabilities. This paper presents the performance analysis of a motion planning algorithm to optimize trajectories in terms of clearance, smoothness and execution time in cluttered scenarios. The algorithm is an upgraded version of a previous one used in ITER, replacing the initialization implemented using Constrained Delaunay Triangulation by the Fast Marching Square. Exhaustive simulated experiments have been carried out in different levels of ITER buildings, comparing the performance of the algorithm using different metrics.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Robotics and Autonomous Systems - Volume 63, Part 1, January 2015, Pages 36-49
Journal: Robotics and Autonomous Systems - Volume 63, Part 1, January 2015, Pages 36-49
نویسندگان
Javier V. Gómez, Alberto Vale, Santiago Garrido, Luis Moreno,