Bi-RRT Path Extraction and Curve Fitting Smooth with Visual Based Configuration Space Mapping

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dc.authoriddirik, mahmut/0000-0003-1718-5075
dc.authoridDönmez, Emrah/0000-0003-3345-8344
dc.authoridKocamaz, Adnan Fatih/0000-0002-7729-8322;
dc.authorwosiddirik, mahmut/R-7971-2019
dc.authorwosidDönmez, Emrah/W-2891-2017
dc.authorwosidKocamaz, Adnan Fatih/C-2820-2014
dc.authorwosidDirik, Mahmut/AAD-6165-2021
dc.contributor.authorDonmez, Emrah
dc.contributor.authorKocamaz, A. Fatih
dc.contributor.authorDirik, Mahmut
dc.date.accessioned2024-08-04T20:44:11Z
dc.date.available2024-08-04T20:44:11Z
dc.date.issued2017
dc.departmentİnönü Üniversitesien_US
dc.description2017 International Artificial Intelligence and Data Processing Symposium (IDAP) -- SEP 16-17, 2017 -- Malatya, TURKEYen_US
dc.description.abstractPath planning is the one of the most basic research areas in robotics. It simply concern about acquiring a safe path with admissible cost. In this study, we adapt bidirectional rapidly random exploring tree (Bi-RRT) path extraction to visual based configuration space map hosting obstacles and smooth result path with curve fitting models. Firstly, a map of the configuration space is created and robot, target positions are detected with threshold based object detection. There are two positions where two distinct RRT are launched on this map. These positions are robot initial position and target position. Both RRT try to reach target with random branches in each iterations. When one of these RRT branch intersect with other RRT branch, the algorithm is stopped. The acquired trajectory is the path between initial position and target position. But acquired path is generally close to the obstacles and unnecessary branches or jagged parts can be formed. Therefore, to provide safety object dilation over obstacles are used. Finally, the path is smoothed with curve fitting models. We conduct several experiments to evaluate Bi-RRT performance.en_US
dc.description.sponsorshipIEEE Turkey Sect,Anatolian Scien_US
dc.identifier.isbn978-1-5386-1880-6
dc.identifier.scopus2-s2.0-85039912678en_US
dc.identifier.scopusqualityN/Aen_US
dc.identifier.urihttps://hdl.handle.net/11616/98085
dc.identifier.wosWOS:000426868700054en_US
dc.identifier.wosqualityN/Aen_US
dc.indekslendigikaynakWeb of Scienceen_US
dc.indekslendigikaynakScopusen_US
dc.language.isoenen_US
dc.publisherIeeeen_US
dc.relation.ispartof2017 International Artificial Intelligence and Data Processing Symposium (Idap)en_US
dc.relation.publicationcategoryKonferans Öğesi - Uluslararası - Kurum Öğretim Elemanıen_US
dc.rightsinfo:eu-repo/semantics/closedAccessen_US
dc.subjectRRTen_US
dc.subjectBi-RRTen_US
dc.subjectPath planningen_US
dc.subjectCurve fittingen_US
dc.titleBi-RRT Path Extraction and Curve Fitting Smooth with Visual Based Configuration Space Mappingen_US
dc.typeConference Objecten_US

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