Path planning based on inflated medial axis and probabilistic roadmap for duct environment

• 主要な著者: Mohd. Kamil, Ahmad Ridhwan, Shithil, Shaekh Mohammad, Ismail, Zool Hilmi, Mahmud, Mohd. Saiful Azimi, Mohd. Faudzi, Ahmad Athif
• フォーマット: Book Section
• 出版事項: Springer Science and Business Media Deutschland GmbH 2022
• 主題: TK Electrical engineering. Electronics Nuclear engineering
• オンライン･アクセス: http://eprints.utm.my/id/eprint/100674/; http://dx.doi.org/10.1007/978-981-16-8484-5_42

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...