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Authors: N. Montés 1 ; F. Chinesta 2 ; A. Falcó 1 ; M. Mora 3 ; L. Hilario 1 and J. Duval 4

Affiliations: 1 Department of Physics, Mathematics and Technological Sciences, University CEU Cardenal Herrera, 46115, Alfara del Patriarca and Spain ; 2 PIMM, ENSAM ParisTech ESI GROUP Chair on Advanced Modeling and Simulation of Manufacturing Processes, Paris and France ; 3 Department of Mechanical Engineering and Construction, Universitat Jaume I, Castellón and Spain ; 4 ESI Group, RUNGIS CEDEX and France

ISBN: 978-989-758-380-3

ISSN: 2184-2809

Keyword(s): Model Order Reduction Techniques, PGD, Path Planning, Potential Field Methods, Laplace Equation.

Related Ontology Subjects/Areas/Topics: Evolutionary Computation and Control ; Informatics in Control, Automation and Robotics ; Intelligent Control Systems and Optimization ; Mobile Robots and Autonomous Systems ; Robotics and Automation ; Vehicle Control Applications

Abstract: The present paper shows, for the first time, the technique known as PGD-Vademecum as a global path planner for mobile robots. The main idea of this method is to obtain a Vademecum containing all the possible paths from any start and goal positions derived from a harmonic potential field in a predefined map. The PGD is a numerical technique with three main advantages. The first one is the ability to bring together all the possible Poisson equation solutions for all start and goal combinations in a map, guaranteeing that the resulting potential field does not have deadlocks. The second one is that the PGD-Vademecum is expressed as a sum of uncoupled multiplied terms: the geometric map and the start and goal configurations. Therefore, the harmonic potential field for any start and goal positions can be reconstructed extremely fast, in a nearly negligible computational time, allowing real-time path planning. The third one is that only a few uncoupled parameters are required to reconstruct the potential field with a low discretization error. Simulation results are shown to validate the abilities of this technique. (More)

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Paper citation in several formats:
Montés, N.; Chinesta, F.; Falcó, A.; Mora, M.; Hilario, L. and Duval, J. (2019). A PGD-based Method for Robot Global Path Planning: A Primer.In Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-758-380-3, ISSN 2184-2809, pages 31-39. DOI: 10.5220/0007809000310039

@conference{icinco19,
author={N. Montés. and F. Chinesta. and A. Falcó. and M. C. Mora. and L. Hilario. and J. L. Duval.},
title={A PGD-based Method for Robot Global Path Planning: A Primer},
booktitle={Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2019},
pages={31-39},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0007809000310039},
isbn={978-989-758-380-3},
}

TY - CONF

JO - Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - A PGD-based Method for Robot Global Path Planning: A Primer
SN - 978-989-758-380-3
AU - Montés, N.
AU - Chinesta, F.
AU - Falcó, A.
AU - Mora, M.
AU - Hilario, L.
AU - Duval, J.
PY - 2019
SP - 31
EP - 39
DO - 10.5220/0007809000310039

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