KFU. Card publication. Towards heterogeneous robot team path planning: Acquisition of multiple routes with a modified spline-based algorithm

KAZAN
FEDERAL UNIVERSITY

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TOWARDS HETEROGENEOUS ROBOT TEAM PATH PLANNING: ACQUISITION OF MULTIPLE ROUTES WITH A MODIFIED SPLINE-BASED ALGORITHM

Form of presentation

Articles in international journals and collections

Year of publication

2017

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Authors, employees of KFU

Lavrenov Roman Olegovich, author

Magid Evgeniy Arkadevich, author

Authors, postgraduates KFU

Lavrenov Roman Olegovich, postgraduate kfu

Bibliographic description in the original language

Lavrenov R. Towards heterogeneous robot team path planning: Acquisition of multiple routes with a modified spline-based algorithm / Magid E. // MATEC Web of Conferences. - 2017. - Vol. 113, � 02015.

Annotation

Our research focuses on operation of a heterogeneous robotic group that carries out point-to point navigation in GPS-denied dynamic environment, applying a combined local and global planning approach. In this paper, we introduce a homotopy-based high-level planner, which uses a modified spline-based path-planning algorithm. The algorithm utilizes Voronoi graph for global planning and a set of optimization criteria for local improvements of selected paths. The simulation was implemented in Matlab environment.

Keywords

Air navigation, MATLAB, Motion planning, Optimization, Robotics, Robots, Dynamic environments, Global planning, Heterogeneous robot teams, MATLAB environment, Multiple routes, Optimization criteria, Path-planning algorithm, Point-to-point navigation, Engineering, Robot programming

The name of the journal

MATEC Web of Conferences

URL

https://www.scopus.com/inward/record.uri?eid=2-s2.0-85021381513&doi=10.1051%2fmatecconf%2f201711302015&partnerID=40&md5=d7fe86786b359ef79475560fba3a8a1d

Please use this ID to quote from or refer to the card

https://repository.kpfu.ru/eng/?p_id=161702&p_lang=2

Resource files

File name	Size (MB)	Format
F_2017_Towards_heterogeneous_robot_team_path_planning.pdf	2,22	pdf	show / download

Full metadata record

Field DC	Value	Language
dc.contributor.author	Lavrenov Roman Olegovich	ru_RU
dc.contributor.author	Magid Evgeniy Arkadevich	ru_RU
dc.contributor.author	Lavrenov Roman Olegovich	ru_RU
dc.date.accessioned	2017-01-01T00:00:00Z	ru_RU
dc.date.available	2017-01-01T00:00:00Z	ru_RU
dc.date.issued	2017	ru_RU
dc.identifier.citation	Lavrenov R. Towards heterogeneous robot team path planning: Acquisition of multiple routes with a modified spline-based algorithm / Magid E. // MATEC Web of Conferences. - 2017. - Vol. 113, � 02015.	ru_RU
dc.identifier.uri	https://repository.kpfu.ru/eng/?p_id=161702&p_lang=2	ru_RU
dc.description.abstract	MATEC Web of Conferences	ru_RU
dc.description.abstract	Our research focuses on operation of a heterogeneous robotic group that carries out point-to point navigation in GPS-denied dynamic environment, applying a combined local and global planning approach. In this paper, we introduce a homotopy-based high-level planner, which uses a modified spline-based path-planning algorithm. The algorithm utilizes Voronoi graph for global planning and a set of optimization criteria for local improvements of selected paths. The simulation was implemented in Matlab environment.	ru_RU
dc.language.iso	ru	ru_RU
dc.subject	Air navigation	ru_RU
dc.subject	MATLAB	ru_RU
dc.subject	Motion planning	ru_RU
dc.subject	Optimization	ru_RU
dc.subject	Robotics	ru_RU
dc.subject	Robots	ru_RU
dc.subject	Dynamic environments	ru_RU
dc.subject	Global planning	ru_RU
dc.subject	Heterogeneous robot teams	ru_RU
dc.subject	MATLAB environment	ru_RU
dc.subject	Multiple routes	ru_RU
dc.subject	Optimization criteria	ru_RU
dc.subject	Path-planning algorithm	ru_RU
dc.subject	Point-to-point navigation	ru_RU
dc.subject	Engineering	ru_RU
dc.subject	Robot programming	ru_RU
dc.title	Towards heterogeneous robot team path planning: Acquisition of multiple routes with a modified spline-based algorithm	ru_RU
dc.type	Articles in international journals and collections	ru_RU