dc.contributor.author |
Mthabela, C
|
|
dc.contributor.author |
Withey, Daniel
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|
dc.contributor.author |
Kuchwa-Dube, C
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|
dc.date.accessioned |
2022-10-24T12:12:16Z |
|
dc.date.available |
2022-10-24T12:12:16Z |
|
dc.date.issued |
2021-11 |
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dc.identifier.citation |
Mthabela, C., Withey, D. & Kuchwa-Dube, C. 2021. Ground robot path planning on 3D mesh surfaces using Bi-directional RRT based on local regions. http://hdl.handle.net/10204/12507 . |
en_ZA |
dc.identifier.uri |
http://hdl.handle.net/10204/12507
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|
dc.description.abstract |
The increasing application of ground robots requires efficient path planning algorithms in three-dimensional (3D) environments containing non-spherical topology. Path planning on surface meshes is possible, however, expensive computation of geodesics is required. To reduce the length and, hence, cost of the geodesics, a growing submesh based on local regions is used. Rapidly-exploring Random Trees (RRT) with local regions are computed and compared with the bi- directional variant, based on RRT-Connect. Results show that RRT-Connect with local regions reduces the computational burden for mesh-based path planning. |
en_US |
dc.format |
Fulltext |
en_US |
dc.language.iso |
en |
en_US |
dc.relation.uri |
DOI: 10.1109/RAPDASA-RobMech-PRAS53819.2021.9829138 |
en_US |
dc.relation.uri |
https://ieeexplore.ieee.org/document/9829138 |
en_US |
dc.source |
2021 Rapid Product Development Association of South Africa - Robotics and Mechatronics - Pattern Recognition Association of South Africa (RAPDASA-RobMech-PRASA), CSIR Conference Centre, Pretoria, South Africa, 3-5 November 2021 |
en_US |
dc.subject |
Three-dimensional displays |
en_US |
dc.subject |
Green products |
en_US |
dc.subject |
Path planning |
en_US |
dc.subject |
Topology |
en_US |
dc.subject |
Ground robot path planning |
en_US |
dc.subject |
3D mesh surfaces |
en_US |
dc.title |
Ground robot path planning on 3D mesh surfaces using Bi-directional RRT based on local regions |
en_US |
dc.type |
Conference Presentation |
en_US |
dc.description.pages |
5 |
en_US |
dc.description.note |
©20XX IEEE. Due to copyright restrictions, the attached PDF file contains the pre-print version of the published item. For access to the published version, please consult the publisher's website: https://ieeexplore.ieee.org/document/9829138 |
en_US |
dc.description.cluster |
Manufacturing |
en_US |
dc.identifier.apacitation |
Mthabela, C., Withey, D., & Kuchwa-Dube, C. (2021). Ground robot path planning on 3D mesh surfaces using Bi-directional RRT based on local regions. http://hdl.handle.net/10204/12507 |
en_ZA |
dc.identifier.chicagocitation |
Mthabela, C, Daniel Withey, and C Kuchwa-Dube. "Ground robot path planning on 3D mesh surfaces using Bi-directional RRT based on local regions." <i>2021 Rapid Product Development Association of South Africa - Robotics and Mechatronics - Pattern Recognition Association of South Africa (RAPDASA-RobMech-PRASA), CSIR Conference Centre, Pretoria, South Africa, 3-5 November 2021</i> (2021): http://hdl.handle.net/10204/12507 |
en_ZA |
dc.identifier.vancouvercitation |
Mthabela C, Withey D, Kuchwa-Dube C, Ground robot path planning on 3D mesh surfaces using Bi-directional RRT based on local regions; 2021. http://hdl.handle.net/10204/12507 . |
en_ZA |
dc.identifier.ris |
TY - Conference Presentation
AU - Mthabela, C
AU - Withey, Daniel
AU - Kuchwa-Dube, C
AB - The increasing application of ground robots requires efficient path planning algorithms in three-dimensional (3D) environments containing non-spherical topology. Path planning on surface meshes is possible, however, expensive computation of geodesics is required. To reduce the length and, hence, cost of the geodesics, a growing submesh based on local regions is used. Rapidly-exploring Random Trees (RRT) with local regions are computed and compared with the bi- directional variant, based on RRT-Connect. Results show that RRT-Connect with local regions reduces the computational burden for mesh-based path planning.
DA - 2021-11
DB - ResearchSpace
DP - CSIR
J1 - 2021 Rapid Product Development Association of South Africa - Robotics and Mechatronics - Pattern Recognition Association of South Africa (RAPDASA-RobMech-PRASA), CSIR Conference Centre, Pretoria, South Africa, 3-5 November 2021
KW - Three-dimensional displays
KW - Green products
KW - Path planning
KW - Topology
KW - Ground robot path planning
KW - 3D mesh surfaces
LK - https://researchspace.csir.co.za
PY - 2021
T1 - Ground robot path planning on 3D mesh surfaces using Bi-directional RRT based on local regions
TI - Ground robot path planning on 3D mesh surfaces using Bi-directional RRT based on local regions
UR - http://hdl.handle.net/10204/12507
ER -
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en_ZA |
dc.identifier.worklist |
25225 |
en_US |