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Ground robot path planning on 3D mesh surfaces using Bi-directional RRT based on local regions
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| dc.contributor.author |
Mthabela, C
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| 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 | |
| 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 | |
| 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 - | en_ZA |
| dc.identifier.worklist | 25225 | en_US |
