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dc.contributor.otherUCH. Departamento de Matemáticas, Física y Ciencias Tecnológicas-
dc.contributor.otherProducción Científica UCH 2021-
dc.creatorMontés Sánchez, Nicolás-
dc.creatorChinesta, Francisco-
dc.creatorMora Aguilar, Marta Covadonga-
dc.creatorFalcó Montesinos, Antonio-
dc.creatorHilario Pérez, Lucía-
dc.creatorRosillo Guerrero, Nuria-
dc.creatorNadal Soriano, Enrique-
dc.date2021-
dc.date.accessioned2022-04-01T04:00:24Z-
dc.date.available2022-04-01T04:00:24Z-
dc.date.issued2021-06-08-
dc.identifier.citationMontés, N., Chinesta, F., Mora, M. C., Falcó, A., Hilario, L., Rosillo, N. & Nadal, E. (2021). Real-time path planning based on harmonic functions under a Proper Generalized Decomposition-Based framework. Sensors, vol. 21, i. 12 (08 jun.), art. 3943. DOI: http://dx.doi.org/10.3390/s21123943-
dc.identifier.issn1424-8220 (Electrónico)-
dc.identifier.urihttp://hdl.handle.net/10637/13589-
dc.descriptionEste artículo se encuentra disponible en la siguiente URL: https://www.mdpi.com/1424-8220/21/12/3943-
dc.descriptionEste artículo de investigación pertenece al número especial "Autonomous Navigation in Robotics: A New Challenge towards Social Robots".-
dc.description.abstractThis paper presents a real-time global path planning method for mobile robots using harmonic functions, such as the Poisson equation, based on the Proper Generalized Decomposition (PGD) of these functions. The main property of the proposed technique is that the computational cost is negligible in real-time, even if the robot is disturbed or the goal is changed. The main idea of the method is the off-line generation, for a given environment, of the whole set of paths from any start and goal configurations of a mobile robot, namely the computational vademecum, derived from a harmonic potential field in order to use it on-line for decision-making purposes. Up until now, the resolution of the Laplace or Poisson equations has been based on traditional numerical techniques unfeasible for real-time calculation. This drawback has prevented the extensive use of harmonic functions in autonomous navigation, despite their powerful properties. The numerical technique that reverses this situation is the Proper Generalized Decomposition. To demonstrate and validate the properties of the PGD-vademecum in a potential-guided path planning framework, both real and simulated implementations have been developed. Simulated scenarios, such as an L-Shaped corridor and a benchmark bug trap, are used, and a real navigation of a LEGO®MINDSTORMS robot running in static environments with variable start and goal configurations is shown. This device has been selected due to its computational and memory-restricted capabilities, and it is a good example of how its properties could help the development of social robots.-
dc.formatapplication/pdf-
dc.language.isoen-
dc.language.isoes-
dc.publisherMDPI-
dc.relationEste artículo de investigación ha sido financiado por la Universidad CEU Cardenal Herrera (INDI20/13).-
dc.relation.ispartofSensors, vol. 21, n. 12 (08 jun. 2021)-
dc.rightshttp://creativecommons.org/licenses/by/4.0/deed.es-
dc.subjectRobótica.-
dc.subjectFunciones armónicas.-
dc.subjectHarmonic functions.-
dc.subjectDescomposición (Matemáticas)-
dc.subjectDifferential equations, Partial.-
dc.subjectRobotics.-
dc.subjectAutómatas matemáticos, Teoria de.-
dc.subjectMachine theory.-
dc.subjectEcuaciones en derivadas parciales.-
dc.subjectDecomposition (Mathematics)-
dc.titleReal-time path planning based on harmonic functions under a Proper Generalized Decomposition-Based framework-
dc.typeArtículo-
dc.identifier.doihttps://doi.org/10.3390/s21123943-
dc.relation.projectIDINDI20/13-
dc.centroUniversidad Cardenal Herrera-CEU-
Aparece en las colecciones: Dpto. Matemáticas, Física y Ciencias Tecnológicas




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