A PGD-based Method for Robot Global Path Planning: A Primer

N. Montés, F. Chinesta, A. Falcó, M. Mora, L. Hilario, J. Duval

2019

Abstract

The present paper shows, for the first time, the technique known as PGD-Vademecum as a global path planner for mobile robots. The main idea of this method is to obtain a Vademecum containing all the possible paths from any start and goal positions derived from a harmonic potential field in a predefined map. The PGD is a numerical technique with three main advantages. The first one is the ability to bring together all the possible Poisson equation solutions for all start and goal combinations in a map, guaranteeing that the resulting potential field does not have deadlocks. The second one is that the PGD-Vademecum is expressed as a sum of uncoupled multiplied terms: the geometric map and the start and goal configurations. Therefore, the harmonic potential field for any start and goal positions can be reconstructed extremely fast, in a nearly negligible computational time, allowing real-time path planning. The third one is that only a few uncoupled parameters are required to reconstruct the potential field with a low discretization error. Simulation results are shown to validate the abilities of this technique.

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Paper Citation


in Harvard Style

Montés N., Chinesta F., Falcó A., Mora M., Hilario L. and Duval J. (2019). A PGD-based Method for Robot Global Path Planning: A Primer.In Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-758-380-3, pages 31-39. DOI: 10.5220/0007809000310039


in Bibtex Style

@conference{icinco19,
author={N. Montés and F. Chinesta and A. Falcó and M. Mora and L. Hilario and J. Duval},
title={A PGD-based Method for Robot Global Path Planning: A Primer},
booktitle={Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2019},
pages={31-39},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0007809000310039},
isbn={978-989-758-380-3},
}


in EndNote Style

TY - CONF

JO - Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - A PGD-based Method for Robot Global Path Planning: A Primer
SN - 978-989-758-380-3
AU - Montés N.
AU - Chinesta F.
AU - Falcó A.
AU - Mora M.
AU - Hilario L.
AU - Duval J.
PY - 2019
SP - 31
EP - 39
DO - 10.5220/0007809000310039