E-viri
Recenzirano
-
Yershov, Dmitry S.; LaValle, Steven M.
Advanced robotics, 12/2012, Letnik: 26, Številka: 17Journal Article
This paper considers the optimal feedback planning problem of a point robot among polygonal obstacles in . In this problem, the Euclidean distance traveled by the robot is minimized. The approximate optimal feedback plan is computed using a piecewise linear approximation of the cost-to-go function. The approximate cost-to-go function, in turn, satisfies the discrete version of dynamic programming principle defined using a simplicial decomposition of the environment. Adaptations of Dijkstra's and A ∗ algorithms are introduced that solve the nonlinear system of discrete dynamic programming equations. Interpolation methods are carefully designed and analyzed so that they are proven to converge numerically. As a result, the computed feedback plan produces approximately optimal trajectories. The methods are implemented and demonstrated on 2D and 3D examples. As expected, the simplicial A ∗ algorithm significantly improves performance over the simplicial Dijkstra's algorithm.
Vnos na polico
Trajna povezava
- URL:
Faktor vpliva
Dostop do baze podatkov JCR je dovoljen samo uporabnikom iz Slovenije. Vaš trenutni IP-naslov ni na seznamu dovoljenih za dostop, zato je potrebna avtentikacija z ustreznim računom AAI.
Leto | Faktor vpliva | Izdaja | Kategorija | Razvrstitev | ||||
---|---|---|---|---|---|---|---|---|
JCR | SNIP | JCR | SNIP | JCR | SNIP | JCR | SNIP |
Baze podatkov, v katerih je revija indeksirana
Ime baze podatkov | Področje | Leto |
---|
Povezave do osebnih bibliografij avtorjev | Povezave do podatkov o raziskovalcih v sistemu SICRIS |
---|
Vir: Osebne bibliografije
in: SICRIS
To gradivo vam je dostopno v celotnem besedilu. Če kljub temu želite naročiti gradivo, kliknite gumb Nadaljuj.