Ponencia
Robot Path Planning using Rapidly-Exploring Random Trees: A Membrane Computing Approach
Autor/es | Pérez Hurtado de Mendoza, Ignacio
Pérez Jiménez, Mario de Jesús Zhang, Gexiang Orellana Martín, David |
Departamento | Universidad de Sevilla. Departamento de Ciencias de la Computación e Inteligencia Artificial |
Fecha de publicación | 2018 |
Fecha de depósito | 2021-03-17 |
Publicado en |
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ISBN/ISSN | 978-1-5386-1934-6 |
Resumen | Methods based on Rapidly-exploring Random Trees
(RRTs) have been in use in robotics to solve motion planning
problems for nearly two decades. On the other hand, in the
membrane computing framework, models based on ... Methods based on Rapidly-exploring Random Trees (RRTs) have been in use in robotics to solve motion planning problems for nearly two decades. On the other hand, in the membrane computing framework, models based on Enzymatic Numerical P systems (ENPS) have been applied to robot controllers. These controllers handle the power of motors according to motion commands usually generated by planning algorithms, but today there is a lack of planning algorithms based on membrane computing for robotics. With this motivation, we provide a new variant of ENPS called Random Enzymatic Numerical P systems with Proteins and Shared Memory (RENPSM) addressed to implement RRT algorithms and we illustrate it by presenting a model for path planning of mobile robots based on the bidirectional RRT algorithm. A software for RENPSM has been developed within the Robot Operating System (ROS) and simulation experiments have been conducted by means of the Pioneer 3-DX robot simulation platform. |
Agencias financiadoras | Ministerio de Economia, Industria y Competitividad (MINECO). España National Natural Science Foundation of China Sichuan Science and Technology Program |
Identificador del proyecto | TIN2017-89842-P
61672437 61702428 18ZDYF2877 18ZDYF1985 |
Cita | Pérez Hurtado de Mendoza, I., Pérez Jiménez, M.d.J., Zhang, G. y Orellana Martín, D. (2018). Robot Path Planning using Rapidly-Exploring Random Trees: A Membrane Computing Approach. En ICCCC 2018: 7th International Conference on Computers Communications and Control Oradea, Romania: IEEE Computer Society. |
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