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http://hdl.handle.net/10637/13375
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Campo DC | Valor | Lengua/Idioma |
---|---|---|
dc.contributor.other | UCH. Departamento de Matemáticas, Física y Ciencias Tecnológicas | - |
dc.contributor.other | Producción Científica UCH 2019 | - |
dc.creator | Montés Sánchez, Nicolás | - |
dc.creator | Chinesta, Francisco | - |
dc.creator | Falcó Montesinos, Antonio | - |
dc.creator | Mora Aguilar, Marta Covadonga | - |
dc.creator | Hilario Pérez, Lucía | - |
dc.creator | Duval, Jean Louis | - |
dc.date | 2019 | - |
dc.date.accessioned | 2022-02-02T05:00:51Z | - |
dc.date.available | 2022-02-02T05:00:51Z | - |
dc.date.issued | 2019-07-29 | - |
dc.identifier.citation | Montés, 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.isbn | 978-989-758-380-3 | - |
dc.identifier.issn | 2184-2809 | - |
dc.identifier.uri | http://hdl.handle.net/10637/13375 | - |
dc.description | Esta comunicación se encuentra disponible en la siguiente URL: https://www.scitepress.org/Papers/2019/78090/78090.pdf | - |
dc.description | Este 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.abstract | The 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.format | application/pdf | - |
dc.language.iso | en | - |
dc.publisher | Science and Technology Publications. | - |
dc.relation.ispartof | Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics (ICINCO 2019). | - |
dc.rights | http://creativecommons.org/licenses/by-nc-nd/4.0/deed.es | - |
dc.subject | Robótica - Modelos matemáticos. | - |
dc.subject | Robotics - Mathematical models. | - |
dc.subject | Métodos de simulación. | - |
dc.subject | Machine theory. | - |
dc.subject | Simulation methods. | - |
dc.subject | Autómatas matemáticos, Teoria de. | - |
dc.title | A PGD-based method for robot global path planning : a primer | - |
dc.type | Comunicación | - |
dc.identifier.doi | https://doi.org/10.5220/0007809000310039 | - |
dc.centro | Universidad Cardenal Herrera-CEU | - |
Aparece en las colecciones: | Dpto. Matemáticas, Física y Ciencias Tecnológicas |
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