Triangle Sampling Path Planning in Environment with Danger Zones for Assembly/Disassembly
نویسندگان
چکیده
To plan a feasible path in the environment with danger zones for assembly/disassembly, a RRT-based path planning algorithm was presented. The algorithm addressed a new density avoided sampling function based on kurtosis coefficient for planning in the free configuration space, and introduced a random sampling function which obtains random state from the triangles that describe the danger zones. The local planner connecting the samples with RRT trees is also introduced. Experimental results show that the algorithm much more effectively searches the paths between danger zones and obstacles. Streszczenie. Zaprezentowano metodę wyznaczania możliwej ścieżki ruchu w środowisku z zagrożeniami. Algorytm bazuje na systemie PRM (probabilistic roadmap) i RRT (rapidly-exploring random trees). (Planowanie drogi w środowisku z zagrożeniami przy próbkowaniu trójkątnym)
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