RT Journal Article
T1 Performance analysis of fast marching-based motion planning for autonomous mobile robots in ITER scenarios
A1 Gómez González, Javier Victorio
A1 Valera Pérez, Alberto
A1 Garrido Bullón, Luis Santiago
A1 Moreno Lorente, Luis Enrique
AB Operations 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.
PB Elsevier
SN 0921-8890
YR 2015
FD 2015-01-01
LK https://hdl.handle.net/10016/36006
UL https://hdl.handle.net/10016/36006
LA eng
NO This 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.
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