Publication:
Performance analysis of fast marching-based motion planning for autonomous mobile robots in ITER scenarios

Simple item page
dc.affiliation.dptoUC3M. Departamento de Ingeniería de Sistemas y Automáticaes
dc.affiliation.grupoinvUC3M. Grupo de Investigación: Laboratorio de Sistemas Inteligenteses
dc.contributor.authorGómez González, Javier Victorio
dc.contributor.authorValera Pérez, Alberto
dc.contributor.authorGarrido Bullón, Luis Santiago
dc.contributor.authorMoreno Lorente, Luis Enrique
dc.date.accessioned2022-11-11T16:12:41Z
dc.date.available2022-11-11T16:12:41Z
dc.date.issued2015-01-01
dc.description.abstractOperations of transportation in cluttered environments require robust motion planning algorithms. Specially with large and heavy vehicles under hazardous operations of maintenance, such as in the ITER, an international nuclear fusion research project. The load transportation inside the ITER facilities require smooth and optimized paths with safety margin of 30 cm. The transportation is accomplished by large rhombic-like vehicles to exploit its kinematic capabilities. This paper presents the performance analysis of a motion planning algorithm to optimize trajectories in terms of clearance, smoothness and execution time in cluttered scenarios. The algorithm is an upgraded version of a previous one used in ITER, replacing the initialization implemented using Constrained Delaunay Triangulation by the Fast Marching Square. Exhaustive simulated experiments have been carried out in different levels of ITER buildings, comparing the performance of the algorithm using different metrics.en
dc.description.sponsorshipThis work was supported by the TECHNOFUSION R&D program funded by the Community of Madrid, project DPI2010-17772 funded by the Spanish Ministry of Science. IST activities received financial support from “Fundação para a Ciência e Tecnologia” through project Pest-OE/SADG/LA0010/2013. The views and opinions expressed herein do not necessarily reflect those of the European Commission.en
dc.description.statusPublicadoes
dc.format.extent7
dc.identifier.bibliographicCitationRobotics and Autonomous Systems, (2015), v. 63, Part 1, pp.: 36-49.en
dc.identifier.doihttps://doi.org/10.1016/j.robot.2014.09.016
dc.identifier.issn0921-8890
dc.identifier.publicationfirstpage36
dc.identifier.publicationissuePart 1en
dc.identifier.publicationlastpage49
dc.identifier.publicationtitleROBOTICS AND AUTONOMOUS SYSTEMSen
dc.identifier.publicationvolume63
dc.identifier.urihttps://hdl.handle.net/10016/36006
dc.identifier.uxxiAR/0000016109
dc.language.isoengen
dc.publisherElsevieren
dc.relation.projectIDGobierno de España. DPI2010-17772es
dc.rights© 2014 Elsevier B.V. All rights reserved.en
dc.rightsAtribución-NoComercial-SinDerivadas 3.0 España*
dc.rights.accessRightsopen accessen
dc.rights.urihttp://creativecommons.org/licenses/by-nc-nd/3.0/es/*
dc.subject.ecienciaRobótica e Informática Industriales
dc.subject.otherMotion planningen
dc.subject.otherFast marching squareen
dc.subject.otherRigid body dynamicsen
dc.subject.otherITERen
dc.titlePerformance analysis of fast marching-based motion planning for autonomous mobile robots in ITER scenariosen
dc.typeresearch article*
dc.type.hasVersionAM*
dspace.entity.typePublication
Files
Original bundle
Now showing 1 - 1 of 1
Thumbnail Image
Name:
performance_RAS_2014_ps.pdf
Size:
4.2 MB
Format:
Adobe Portable Document Format
Download
Collections
DISA - LSI - Artículos de Revistas