NDLI: Quadtree decomposition of configuration space for robot motion planning

Content Provider	IEEE Xplore Digital Library
Author	Kumpel, J. Sparbert, J. Tibken, B. Hofer, E.P.
Copyright Year	1999
Description	Author affiliation: Dept. of Meas., Control & Microtechnol., Univ. of Ulm, Ulm, Germany (Kumpel, J.; Sparbert, J.; Tibken, B.; Hofer, E.P.)
Abstract	This paper presents a method to solve the general problem of path planning in the field of robotics. For autonomous mobile robots the configuration space is given by an occupancy matrix represented by a bitmap. Quadtree decomposition is used to decompose the configuration space in order to achieve a representation, which needs less memory than the original representation with a bitmap. A connectivity graph is generated from the decomposed configuration space using neighbour finding techniques. A final graph search yields a feasible path, e.g. a shortest path. Due to smaller data structures the search of the free space of the configuration space for a feasible path can be done much faster. The presented algorithms are implemented using C++. The results of simulations for typical environments together with execution times are presented.
Starting Page	277
Ending Page	282
File Size	2248908
Page Count	6
File Format	PDF
ISBN	9783952417355
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1999-08-31
Publisher Place	Germany
Access Restriction	Subscribed
Rights Holder	EUCA
Subject Keyword	Robot motion Quadtree Cell Decomposition Computer graphics Aerospace electronics Path planning Robot Motion Planning Planning Matrix decomposition Shortest Path
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

Simulation & Implementation of Shortest Path Algorithm with a Mobile Robot Using Configuration Space Approach

Path planning for planar articulated robots using configuration spaces and compliant motion (2002).

The Configuration Space Approach to Robot Path Planning

Finding the k shortest paths

C-space decomposition using deterministic sampling and distances (2007)

Randomized preprocessing of configuration space for path planning: articulated robots

Robust motion planning using markov decision processes and quadtree decomposition (2004)

Robot motion planning: a distributed representation approach (1991).

Robust Motion Planning using Markov Decision Processes and Quadtree Decomposition

Quadtree decomposition of configuration space for robot motion planning

Similar Documents

Simulation & Implementation of Shortest Path Algorithm with a Mobile Robot Using Configuration Space Approach

Path planning for planar articulated robots using configuration spaces and compliant motion (2002).

The Configuration Space Approach to Robot Path Planning

Finding the k shortest paths

C-space decomposition using deterministic sampling and distances (2007)

Randomized preprocessing of configuration space for path planning: articulated robots

Robust motion planning using markov decision processes and quadtree decomposition (2004)

Robot motion planning: a distributed representation approach (1991).

Robust Motion Planning using Markov Decision Processes and Quadtree Decomposition

Quadtree decomposition of configuration space for robot motion planning