Path planning based on inflated medial axis and probabilistic roadmap for duct environment
This paper proposes an inflated medial axis based probabilistic roadmap (PRM) for the duct environment. The study intends to explore a sampling strategy for PRM toward clearance-driven path planning. Sampled nodes are constrained only inside the inflated medial axis area. The medial axis is generate...
| Main Authors: | , , , , |
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| Format: | Book Section |
| Published: |
Springer Science and Business Media Deutschland GmbH
2022
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| Subjects: |