A new multimodal planning algorithm based on PRM

Autor:	Qin Huanchang, Wu Zaiqun, Pan Pan, Wang Meisuo, Qin Jiangfeng, Ye Ziqi
Jazyk:	angličtina
Rok vydání:	2022
Předmět:	robot prm submanifold multimodal Information technology T58.5-58.64
Zdroj:	ITM Web of Conferences, Vol 47, p 02005 (2022)
Druh dokumentu:	article
ISSN:	2271-2097 20224702
DOI:	10.1051/itmconf/20224702005
Popis:	The robot motion planning problem has a unique multimodal structure, where the space of feasible configuration consists of intersecting submanifolds. The planning problem of reconfigurable robot leg motions was considered as a multimodal structure composed of intersecting submanifolds in different dimensions. After that, a new multimodal planning algorithm based on PRM was proposed. Simulation results showed that the new algorithm had a shorter running time than PRM in different modes.
Databáze:	Directory of Open Access Journals
Externí odkaz:	https://doaj.org/article/25b63502ec0a491f93765694c4292347 Zobrazit plný text záznamu View record in DOAJ