{"id":78,"date":"2014-12-19T10:17:45","date_gmt":"2014-12-19T09:17:45","guid":{"rendered":"http:\/\/babel.isa.uma.es\/kipr\/?p=78"},"modified":"2015-07-16T15:29:24","modified_gmt":"2015-07-16T14:29:24","slug":"taking-into-account-the-way-a-path-serves-to-avoid-obstacles-in-order-to-improve-the-three-main-methods-of-robot-path-planning-graph-search-probabilistic-and-bug","status":"publish","type":"post","link":"https:\/\/babel.isa.uma.es\/kipr\/?p=78","title":{"rendered":"Taking into account the way a path serves to avoid obstacles in order to improve the three main methods of robot path planning: graph-search, probabilistic and bug"},"content":{"rendered":"<h4>Emili Hernandez, Marc Carreras, Pere Ridao, <strong>A comparison of homotopic path planning algorithms for robotic applications <\/strong>, Robotics and Autonomous Systems, Volume 64, February 2015, Pages 44-58, ISSN 0921-8890, <a href=\"http:\/\/dx.doi.org\/10.1016\/j.robot.2014.10.021\" target=\"_blank\">DOI: 10.1016\/j.robot.2014.10.021<\/a><\/h4>\n<p>.<\/p>\n<blockquote><p>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\u2217 (HA\u2217), 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.<\/p><\/blockquote>\n","protected":false},"excerpt":{"rendered":"<p>Emili Hernandez, Marc Carreras, Pere Ridao, A comparison of homotopic path planning algorithms for robotic applications , Robotics and Autonomous <span class=\"ellipsis\">&hellip;<\/span> <span class=\"more-link-wrap\"><a href=\"https:\/\/babel.isa.uma.es\/kipr\/?p=78\" class=\"more-link\"><span>Read More &rarr;<\/span><\/a><\/span><\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"closed","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[23],"tags":[6],"class_list":["post-78","post","type-post","status-publish","format-standard","hentry","category-robot-motion-planning","tag-useful-for-teaching"],"_links":{"self":[{"href":"https:\/\/babel.isa.uma.es\/kipr\/index.php?rest_route=\/wp\/v2\/posts\/78"}],"collection":[{"href":"https:\/\/babel.isa.uma.es\/kipr\/index.php?rest_route=\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/babel.isa.uma.es\/kipr\/index.php?rest_route=\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/babel.isa.uma.es\/kipr\/index.php?rest_route=\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/babel.isa.uma.es\/kipr\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=78"}],"version-history":[{"count":2,"href":"https:\/\/babel.isa.uma.es\/kipr\/index.php?rest_route=\/wp\/v2\/posts\/78\/revisions"}],"predecessor-version":[{"id":82,"href":"https:\/\/babel.isa.uma.es\/kipr\/index.php?rest_route=\/wp\/v2\/posts\/78\/revisions\/82"}],"wp:attachment":[{"href":"https:\/\/babel.isa.uma.es\/kipr\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=78"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/babel.isa.uma.es\/kipr\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=78"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/babel.isa.uma.es\/kipr\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=78"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}