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You are here : eLibrary : Ice Research and Engineering : 22nd Symposium_Singapore (2014) : THEME 4- ICE DYNAMICS AND SHIPPING : OBSTACLE AVOIDANCE AND PATH PLANNING IN ICE SEA USING PROBABILISTIC ROADMAP METHOD
OBSTACLE AVOIDANCE AND PATH PLANNING IN ICE SEA USING PROBABILISTIC ROADMAP METHOD
Author : T.Takagi, K.Tateyama, T.Ishiyama
In this paper, the selection of the sea route on the ice sea is formulated as the find-path problem. The probabilistic roadmap(PRM) method, which is a popular path planning scheme that can find a collision-free path by connecting the start and goal through a roadmap constructed by drawing random node in the free configuration space. This paper presents new method that construct a roadmap graph. The path between the start and the goal is decided by using the Dijkstra's Algorithm as a query. Experimental results show the effectiveness of the proposed method. And it is not necessary to avoid all Sea ice processess according to ship?s capability. In addition, we
File Size : 1,699,111 bytes
File Type : Adobe Acrobat Document
Chapter : Ice Research and Engineering
Category : 22nd Symposium_Singapore (2014)
Article : THEME 4- ICE DYNAMICS AND SHIPPING
Date Published : 13/07/2016
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