Identificador persistente para citar o vincular este elemento: http://hdl.handle.net/10553/72228
Campo DC Valoridioma
dc.contributor.authorBombini, Lucaen_US
dc.contributor.authorCoati, Alessandroen_US
dc.contributor.authorMedina, Javier Sanchezen_US
dc.contributor.authorMolinari, Danieleen_US
dc.contributor.authorSignifredi, Andreaen_US
dc.date.accessioned2020-05-08T21:16:19Z-
dc.date.available2020-05-08T21:16:19Z-
dc.date.issued2015en_US
dc.identifier.issn2153-0009en_US
dc.identifier.otherWoS-
dc.identifier.urihttp://hdl.handle.net/10553/72228-
dc.description.abstractPath planning is a key and complex element for every unmanned ground vehicle development. Once the 3D reconstruction of the environment is completed and the objective configuration (desired position and pose) is defined, there has to be a careful path planning algorithm. That path is subject to many restrictions: it has to be time optimal; we have limited degrees of freedom to work with since the vehicle is a non-holonomic robot; we have limited computational power and real-time constraints regarding on-board equipments; and finally the vehicle's mechanical limitations, like the maximum curvature.In this paper we present a new methodology for the path planning calculation. It was meant to be a one for all methodology, useful for different scenarios (automotive, industrial applications, mining, etc.) and different platforms (car-like vehicles, forklift trucks, etc.).This paper splits the problem in two stages. The first one faces the problem of reaching the goal with an a priori knowledge of the position affected by noise. The second approach develops a system capable of reaching the goal, enhancing the precision using a detection system, mainly based on computer vision. Particular focus is given to the interaction between the two methods proposed.en_US
dc.languageengen_US
dc.source2015 IEEE 18Th International Conference On Intelligent Transportation Systems [ISSN 2153-0009], p. 996-1001, (2015)en_US
dc.subject120304 Inteligencia artificialen_US
dc.subject.otherCollision-freeen_US
dc.subject.otherVehiclesen_US
dc.subject.otherTrajectoryen_US
dc.subject.otherPlanningen_US
dc.subject.otherGlobal positioning systemen_US
dc.subject.otherReal-time systemsen_US
dc.subject.otherNoiseen_US
dc.titleA general purpose approach for global and local path planning combinationen_US
dc.typeinfo:eu-repo/semantics/conferenceObjecten_US
dc.typeConferenceObjecten_US
dc.relation.conference18th IEEE International Conference on Intelligent Transportation Systemsen_US
dc.identifier.doi10.1109/ITSC.2015.166en_US
dc.identifier.isi000376668801012-
dc.identifier.eissn2153-0017-
dc.description.lastpage1001en_US
dc.description.firstpage996en_US
dc.investigacionIngeniería y Arquitecturaen_US
dc.type2Actas de congresosen_US
dc.contributor.daisngid3645293-
dc.contributor.daisngid760238-
dc.contributor.daisngid1882101-
dc.contributor.daisngid31489761-
dc.contributor.daisngid9950414-
dc.description.numberofpages6en_US
dc.identifier.eisbn978-1-4673-6596-3-
dc.utils.revisionen_US
dc.contributor.wosstandardWOS:Bombini, L-
dc.contributor.wosstandardWOS:Coati, A-
dc.contributor.wosstandardWOS:Medina, JS-
dc.contributor.wosstandardWOS:Molinari, D-
dc.contributor.wosstandardWOS:Signifredi, A-
dc.date.coverdate2015en_US
dc.identifier.ulpgcen_US
item.grantfulltextnone-
item.fulltextSin texto completo-
crisitem.author.deptGIR IUCES: Centro de Innovación para la Empresa, el Turismo, la Internacionalización y la Sostenibilidad-
crisitem.author.deptIU de Cibernética, Empresa y Sociedad (IUCES)-
crisitem.author.deptDepartamento de Informática y Sistemas-
crisitem.author.orcid0000-0003-2530-3182-
crisitem.author.parentorgIU de Cibernética, Empresa y Sociedad (IUCES)-
crisitem.author.fullNameSánchez Medina, Javier Jesús-
Colección:Actas de congresos
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