Por favor, use este identificador para citar o enlazar este ítem: http://hdl.handle.net/10637/13375
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dc.contributor.otherUCH. Departamento de Matemáticas, Física y Ciencias Tecnológicas-
dc.contributor.otherProducción Científica UCH 2019-
dc.creatorMontés Sánchez, Nicolás-
dc.creatorChinesta, Francisco-
dc.creatorFalcó Montesinos, Antonio-
dc.creatorMora Aguilar, Marta Covadonga-
dc.creatorHilario Pérez, Lucía-
dc.creatorDuval, Jean Louis-
dc.date2019-
dc.date.accessioned2022-02-02T05:00:51Z-
dc.date.available2022-02-02T05:00:51Z-
dc.date.issued2019-07-29-
dc.identifier.citationMontés, N., Chinesta, F., Falcó, A., Mora, M., Hilario, L. and Duval, J. (2019). A PGD-based method for robot global path planning : a primer. In Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics (ICINCO 2019), pp. 31-39. DOI: https://doi.org/10.5220/0007809000310039-
dc.identifier.isbn978-989-758-380-3-
dc.identifier.issn2184-2809-
dc.identifier.urihttp://hdl.handle.net/10637/13375-
dc.descriptionEsta comunicación se encuentra disponible en la siguiente URL: https://www.scitepress.org/Papers/2019/78090/78090.pdf-
dc.descriptionEste artículo pertenece a la 16th International Conference on Informatics in Control, Automation and Robotics (ICINCO 2019) - Prague, Czech Republic, 29-31 July 2019.-
dc.description.abstractThe present paper shows, for the first time, the technique known as PGD-Vademecum as a global path planner for mobile robots. The main idea of this method is to obtain a Vademecum containing all the possible paths from any start and goal positions derived from a harmonic potential field in a predefined map. The PGD is a numerical technique with three main advantages. The first one is the ability to bring together all the possible Poisson equation solutions for all start and goal combinations in a map, guaranteeing that the resulting potential field does not have deadlocks. The second one is that the PGD-Vademecum is expressed as a sum of uncoupled multiplied terms: the geometric map and the start and goal configurations. Therefore, the harmonic potential field for any start and goal positions can be reconstructed extremely fast, in a nearly negligible computational time, allowing real-time path planning. The third one is that only a few uncoupled parameters are required to reconstruct the potential field with a low discretization error. Simulation results are shown to validate the abilities of this technique.-
dc.formatapplication/pdf-
dc.language.isoen-
dc.publisherScience and Technology Publications.-
dc.relation.ispartofProceedings of the 16th International Conference on Informatics in Control, Automation and Robotics (ICINCO 2019).-
dc.rightshttp://creativecommons.org/licenses/by-nc-nd/4.0/deed.es-
dc.subjectRobótica - Modelos matemáticos.-
dc.subjectRobotics - Mathematical models.-
dc.subjectMétodos de simulación.-
dc.subjectMachine theory.-
dc.subjectSimulation methods.-
dc.subjectAutómatas matemáticos, Teoria de.-
dc.titleA PGD-based method for robot global path planning : a primer-
dc.typeComunicación-
dc.identifier.doihttps://doi.org/10.5220/0007809000310039-
dc.centroUniversidad Cardenal Herrera-CEU-
Aparece en las colecciones: Dpto. Matemáticas, Física y Ciencias Tecnológicas




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