A comparison of homotopic path planning algorithms for robotic applications
dc.contributor.author
dc.date.accessioned
2015-10-19T09:45:42Z
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2015-10-19T09:45:42Z
dc.date.issued
2015-01-01
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0921-8890
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dc.description.abstract
This paper addresses the path planning problem for robotic applications using homotopy classes. These classes provide a topological description of how paths avoid obstacles, which is an added value to the path planning problem. Homotopy classes are generated and sorted according to a lower bound heuristic estimator using a method we developed. Then, the classes are used to constrain and guide path planning algorithms. Three different path planners are presented and compared: a graph-search algorithm called Homotopic A∗ (HA∗), a probabilistic sample-based algorithm called Homotopic RRT (HRRT), and a bug-based algorithm called Homotopic Bug (HBug). Our method has been tested in simulation and in an underwater bathymetric map to compute the trajectory of an Autonomous Underwater Vehicle (AUV). A comparison with well-known path planning algorithms has also been included. Results show that our homotopic path planners improve the quality of the solutions of their respective non-homotopic versions with similar computation time while keeping the topological constraints
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This research was sponsored by the Spanish Government under the grant DPI2011-27977-C03-02 and the TRIDENT EU FP7-Project under the Grant Agreement No. ICT-248497
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application/pdf
dc.language.iso
eng
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Elsevier
dc.relation
info:eu-repo/grantAgreement/MICINN//DPI2011-27977-C03-02/ES/COMAROB: ROBOTICA COOPERATIVA MARINA PARA EL MAPEO ACUSTICO Y LA INTERVENCION/
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Reproducció digital del document publicat a: http://dx.doi.org/ 10.1016/j.robot.2014.10.021
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© Robotics and Autonomous Systems, 2015, vol. 64, p. 44-58
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Articles publicats (D-ATC)
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Tots els drets reservats
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dc.title
A comparison of homotopic path planning algorithms for robotic applications
dc.type
info:eu-repo/semantics/article
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info:eu-repo/semantics/embargoedAccess
dc.embargo.terms
Cap
dc.date.embargoEndDate
info:eu-repo/date/embargoEnd/2026-01-01
dc.relation.projectID
info:eu-repo/grantAgreement/EC/FP7/248497/EU/Marine Robots and Dexterous Manipulation for Enabling Autonomous Underwater Multipurpose Intervention Missions/TRIDENT
dc.type.version
info:eu-repo/semantics/publishedVersion
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