Quais Mapas probabilísticos devem ser usados por um robô em um ambiente real? Uma análise dos principais métodos através de simulações (Wich Probabilistic Roadmap method should be used by a robot in an actual environment? An analysis of the main methods through simulations)

Bruno Palma (bruno.palma@ppgi.ufrj.br)1, Cabral Lima (cabrallima@ufrj.br)1, Wouter Caarls (wouter@caarls.org)1, Danilo Vettorazzi (dan.vettor@dcc.ufrj.br)1


1UFRJ

This paper appears in: Revista IEEE América Latina

Publication Date: April 2016
Volume: 14,   Issue: 4 
ISSN: 1548-0992


Abstract:
Path planning for autonomous robots into actual enviroments has been an important challenge. Probabilistic roadmaps (PRM) is one of the most used techniques for solve this challenge and several PRM methods have been proposed. In this paper the main PRM methods are analyzed through a huge set of simulations with a robot into complex statics environments. The main results have show which methods are more intersting according to environment characteristics.

Index Terms:
autonomous robot, path planning, probabilistic roadmaps, gridmaps   


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