Motion planning algorithm for heterogeneous combinatorial robots

Ng Fa Ho*, Jui Chun Jao, Wen Xiong Liao

*此作品的通信作者

研究成果: 書貢獻/報告類型會議論文篇章

1 引文 斯高帕斯(Scopus)

摘要

Some properties and an algorithm of motion planning problem of heterogeneous combinatorial point robots are presented. Heterogeneous combinatorial point robots can be combined and separated freely during moving. It is proven that the problem in a static discrete environment is compliant to the principle of optimality. Dynamic programming algorithms are used to solve this problem. The superposition property of the problem is presented. The time complexity of this problem is O|qV|2kΣ) i=1 nCtn. The motion planning problem of homogeneous combinatorial point robots is a special case of that of heterogeneous ones. A probabilistic roadmap method is used in the experiments and it finds feasible motion plans efficiently.

原文英語
主出版物標題ICCAS 2007 - International Conference on Control, Automation and Systems
頁面628-633
頁數6
DOIs
出版狀態已發佈 - 2007
事件International Conference on Control, Automation and Systems, ICCAS 2007 - Seoul, 大韓民國
持續時間: 2007 十月 172007 十月 20

出版系列

名字ICCAS 2007 - International Conference on Control, Automation and Systems

會議

會議International Conference on Control, Automation and Systems, ICCAS 2007
國家/地區大韓民國
城市Seoul
期間2007/10/172007/10/20

ASJC Scopus subject areas

  • 控制與系統工程
  • 電氣與電子工程

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