Non - Euclidean Metric and Path Planning
نویسندگان
چکیده
In order to achieve the wide range of the robotic application it is necessary to provide iterative motions among points of the goals. For instance, in the industry mobile robots can replace any components between a storehouse and an assembly department. Ammunition replacement is widely used in military services. Working place is possible in ports, airports, waste site and etc. Mobile agents can be used for monitoring if it is necessary to observe control points in the secret place. The paper deals with path planning programme for mobile robots. The aim of the research paper is to analyse motion-planning algorithms that contain the design of modelling programme. The programme is needed as environment modelling to obtain the simulation data. The simulation data give the possibility to conduct the wide analyses for selected algorithm. Analysis means the simulation data interpretation and comparison with other data obtained using the motion-planning. The results of the careful analysis were considered for optimal path planning algorithms. The experimental evidence was proposed to demonstrate the effectiveness of the algorithm for steady covered space. The results described in this work can be extended in a number of directions, and applied to other algorithms.
منابع مشابه
Assessment of the Log-Euclidean Metric Performance in Diffusion Tensor Image Segmentation
Introduction: Appropriate definition of the distance measure between diffusion tensors has a deep impact on Diffusion Tensor Image (DTI) segmentation results. The geodesic metric is the best distance measure since it yields high-quality segmentation results. However, the important problem with the geodesic metric is a high computational cost of the algorithms based on it. The main goal of this ...
متن کاملOn the metric triangle inequality
A non-contradictible axiomatic theory is constructed under the local reversibility of the metric triangle inequality. The obtained notion includes the metric spaces as particular cases and the generated metric topology is T$_{1}$-separated and generally, non-Hausdorff.
متن کاملLower Bounds for Shortest Path and Related Problems
We present the rst lower bounds for shortest path problems (including euclidean shortest path) in three dimensions, and for some constrained motion planning problems in two and three dimensions. Our proofs are based a technique called free path encoding and use homotopy equivalence classes of paths to encode state. We rst apply the method to the shortest path problem in three dimensions. The pr...
متن کاملThe Evolution of Urban Zoning from Conventional to Form Based Codes; Introducing Non-Euclidean Zoning Techniqueschniques
Zoning has always been one of the basic tools of land use control available. Zoning is the regulation and restriction of land uses according to a predetermined plan. This paper will present a look at conventional zoning, its origins, the evolution of the zoning, and the scope of zoning types. Regardless of the varieties, most zoning codes can be classified into at least one of the following bro...
متن کاملUsing skeletons for nonholonomic path planning among obstacles
This paper describes a practical path planner for nonholonomic robots in environments with obstacles. The planner is based on building a one-dimensional, maximal clearance skeleton through the con guration space of the robot. However rather than using the Euclidean metric to determine clearance, a special metric which captures information about the nonholonomy of the robot is used. The robot na...
متن کامل