A Bug-based Path Planner Guided with Homotopy Classes

Emili Hernández; Marc Carreras; Pere Ridao

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Paper

A Bug-based Path Planner Guided with Homotopy Classes

Topics: Mobile Robots and Autonomous Systems

In Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, 123-131, 2012 , Rome, Italy

Authors: Emili Hernández ; Marc Carreras and Pere Ridao

Affiliation: University of Girona, Spain

Keyword(s): Path Planning, Homotopy Classes, Robotics.

Related Ontology Subjects/Areas/Topics: Informatics in Control, Automation and Robotics ; Mobile Robots and Autonomous Systems ; Robotics and Automation

Abstract: This paper proposes a bug-based path planning algorithm guided topologically with homotopy classes. Homotopy classes provide a topological description of how paths avoid obstacles in the workspace. They are generated with a method we developed, which builds a topological environment based on the workspace that allows to compute homotopy classes systematically. The homotopy classes are sorted according to a heuristic estimation of their lower bound. Only those with the smaller lower bound are used to guide the path planner we propose, called Homotopic Bug (HBug), which efficiently computes paths in the workspace that accomplish homotopy classes. Results show the feasibility of our method. A comparison with well-known path planners has also been included.

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Paper citation in several formats:

Hernández, E.; Carreras, M. and Ridao, P. (2012). A Bug-based Path Planner Guided with Homotopy Classes. In Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO; ISBN 978-989-8565-22-8; ISSN 2184-2809, SciTePress, pages 123-131. DOI: 10.5220/0004041201230131

@conference{icinco12,
author={Emili Hernández. and Marc Carreras. and Pere Ridao.},
title={A Bug-based Path Planner Guided with Homotopy Classes},
booktitle={Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO},
year={2012},
pages={123-131},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0004041201230131},
isbn={978-989-8565-22-8},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO
TI - A Bug-based Path Planner Guided with Homotopy Classes
SN - 978-989-8565-22-8
IS - 2184-2809
AU - Hernández, E.
AU - Carreras, M.
AU - Ridao, P.
PY - 2012
SP - 123
EP - 131
DO - 10.5220/0004041201230131
PB - SciTePress