dc.contributor.author |
Lavrenov R. |
|
dc.contributor.author |
Magid E. |
|
dc.date.accessioned |
2018-04-05T07:10:14Z |
|
dc.date.available |
2018-04-05T07:10:14Z |
|
dc.date.issued |
2017 |
|
dc.identifier.uri |
http://dspace.kpfu.ru/xmlui/handle/net/130306 |
|
dc.description.abstract |
© 2017 The Authors. 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 splinebased 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. |
|
dc.title |
Towards heterogeneous robot team path planning: Acquisition of multiple routes with a modified spline-based algorithm |
|
dc.type |
Conference Paper |
|
dc.relation.ispartofseries-volume |
113 |
|
dc.collection |
Публикации сотрудников КФУ |
|
dc.source.id |
SCOPUS-2017-113-SID85021381513 |
|