Evaluación de las técnicas de planificación de movimientos, Descomposición exacta trapezoidal y Descomposición adaptativa de celdas a través de mallas
Carlos Andrés Veléz Carvajal, Jaime Alberto Guzmán Luna, Ingrid Durley Torres Pardo · Portal De Revistas UPTC (Universidad Pedagógica y Tecnológica de Colombia) · 2012
Acomparison of twomotion planning techniques: the trapezoidal exact cell decomposition and the adaptive cell decomposition through grids. Both techniques were implemented in two Lego Mindstorms mobile robots, by using the Java-LeJOS development environment. Their evaluationwas conducted in three test environments, assuming the robot�s geometry in two ways: As a point and a circle in space. The evaluation results showed that the exact decomposition gives a shorter path than the adaptive one, its performance in terms of error generated in the robot�s final real location, is similar in both, and these techniques allow finding the shortest paths, when considering the robot�s geometry as a circle, instead of a dot, because the routes� option, are designed closer to reality.