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Authors: Petr Vaněk ; Jan Faigl and Diar Masri

Affiliation: Czech Technical University in Prague, Czech Republic

Keyword(s): Motion Planning, Traveling Salesman Problem.

Related Ontology Subjects/Areas/Topics: Artificial Intelligence ; Artificial Intelligence and Decision Support Systems ; Computational Intelligence ; Enterprise Information Systems ; Formal Methods ; Informatics in Control, Automation and Robotics ; Intelligent Control Systems and Optimization ; Mobile Robots and Autonomous Systems ; Planning and Scheduling ; Robotics and Automation ; Simulation and Modeling ; Soft Computing ; Symbolic Systems

Abstract: This paper presents our early results on multi-goal trajectory planning with motion primitives for a hexapod walking robot. We propose to use an on-line unsupervised learning method to simultaneously find a solution of the underlying traveling salesman problem together with particular trajectories between the goals. Using this technique, we avoid pre-computation of all possible trajectories between the goals for a graph based heuristic solvers for the traveling salesman problem. The proposed approach utilizes principles of self-organizing map to steer the randomized sampling of configuration space in promising areas regarding the multi-goal trajectory. The presented results indicate the proposed steering mechanism provides a feasible multi-goal trajectory in a less number of samples than an approach based on a priori known sequence of the goals visits.

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Paper citation in several formats:
Vaněk, P.; Faigl, J. and Masri, D. (2014). Multi-goal Trajectory Planning with Motion Primitives for Hexapod Walking Robot. In Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO; ISBN 978-989-758-040-6; ISSN 2184-2809, SciTePress, pages 599-604. DOI: 10.5220/0005118405990604

@conference{icinco14,
author={Petr Vaněk. and Jan Faigl. and Diar Masri.},
title={Multi-goal Trajectory Planning with Motion Primitives for Hexapod Walking Robot},
booktitle={Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO},
year={2014},
pages={599-604},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0005118405990604},
isbn={978-989-758-040-6},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO
TI - Multi-goal Trajectory Planning with Motion Primitives for Hexapod Walking Robot
SN - 978-989-758-040-6
IS - 2184-2809
AU - Vaněk, P.
AU - Faigl, J.
AU - Masri, D.
PY - 2014
SP - 599
EP - 604
DO - 10.5220/0005118405990604
PB - SciTePress