Matches in SemOpenAlex for { <https://semopenalex.org/work/W2896750934> ?p ?o ?g. }
Showing items 1 to 96 of
96
with 100 items per page.
- W2896750934 abstract "This paper describes a graph search-based local path planner with an adaptive node sampling according to positions of obstacles. Randomly sampled nodes of a graph in a traversable region for finding a local path can generate a winding path due to connection between the randomly sampling nodes. Node sampling with constant intervals can fail to find a proper path in a case that an interval between adjacent obstacles are smaller than the sampling interval. To solve these problems, our path planner changes node sampling strategy according to obstacle positions; it samples nodes along a reference path, e.g., the center line of the lane, if there are no obstacles, but densely samples nodes around obstacles. After sampling, the planner searches the graph using Dijkstra's algorithm for finding an optimal trajectory. For efficient search for the optimal trajectory, the planner firstly generates a trajectory approximated by piecewise linear lines with minimum cost, and fine-tunes it by adjusting node positions with curved edges having smaller cost. We test the planner through simulations in which an ego vehicle drive along a reference path when there are no obstacles, and densely sample around obstacles to improve robustness against obstacle locations." @default.
- W2896750934 created "2018-10-26" @default.
- W2896750934 creator A5019361578 @default.
- W2896750934 creator A5030124772 @default.
- W2896750934 creator A5081626471 @default.
- W2896750934 date "2018-06-01" @default.
- W2896750934 modified "2023-10-15" @default.
- W2896750934 title "Graph Search Based Local Path Planning with Adaptive Node Sampling" @default.
- W2896750934 cites W1983948265 @default.
- W2896750934 cites W198732646 @default.
- W2896750934 cites W2005354226 @default.
- W2896750934 cites W2014340571 @default.
- W2896750934 cites W2055207897 @default.
- W2896750934 cites W2082142320 @default.
- W2896750934 cites W2120179083 @default.
- W2896750934 cites W2134765105 @default.
- W2896750934 cites W2136445059 @default.
- W2896750934 cites W2165216595 @default.
- W2896750934 cites W2169528473 @default.
- W2896750934 cites W2560990389 @default.
- W2896750934 doi "https://doi.org/10.1109/ivs.2018.8500396" @default.
- W2896750934 hasPublicationYear "2018" @default.
- W2896750934 type Work @default.
- W2896750934 sameAs 2896750934 @default.
- W2896750934 citedByCount "2" @default.
- W2896750934 countsByYear W28967509342018 @default.
- W2896750934 countsByYear W28967509342021 @default.
- W2896750934 crossrefType "proceedings-article" @default.
- W2896750934 hasAuthorship W2896750934A5019361578 @default.
- W2896750934 hasAuthorship W2896750934A5030124772 @default.
- W2896750934 hasAuthorship W2896750934A5081626471 @default.
- W2896750934 hasConcept C106131492 @default.
- W2896750934 hasConcept C11413529 @default.
- W2896750934 hasConcept C121332964 @default.
- W2896750934 hasConcept C126255220 @default.
- W2896750934 hasConcept C127413603 @default.
- W2896750934 hasConcept C1276947 @default.
- W2896750934 hasConcept C132525143 @default.
- W2896750934 hasConcept C13662910 @default.
- W2896750934 hasConcept C140779682 @default.
- W2896750934 hasConcept C154945302 @default.
- W2896750934 hasConcept C158485040 @default.
- W2896750934 hasConcept C17744445 @default.
- W2896750934 hasConcept C199539241 @default.
- W2896750934 hasConcept C2776650193 @default.
- W2896750934 hasConcept C2777735758 @default.
- W2896750934 hasConcept C31258907 @default.
- W2896750934 hasConcept C31972630 @default.
- W2896750934 hasConcept C33923547 @default.
- W2896750934 hasConcept C41008148 @default.
- W2896750934 hasConcept C62611344 @default.
- W2896750934 hasConcept C66938386 @default.
- W2896750934 hasConcept C80444323 @default.
- W2896750934 hasConcept C81074085 @default.
- W2896750934 hasConcept C90509273 @default.
- W2896750934 hasConceptScore W2896750934C106131492 @default.
- W2896750934 hasConceptScore W2896750934C11413529 @default.
- W2896750934 hasConceptScore W2896750934C121332964 @default.
- W2896750934 hasConceptScore W2896750934C126255220 @default.
- W2896750934 hasConceptScore W2896750934C127413603 @default.
- W2896750934 hasConceptScore W2896750934C1276947 @default.
- W2896750934 hasConceptScore W2896750934C132525143 @default.
- W2896750934 hasConceptScore W2896750934C13662910 @default.
- W2896750934 hasConceptScore W2896750934C140779682 @default.
- W2896750934 hasConceptScore W2896750934C154945302 @default.
- W2896750934 hasConceptScore W2896750934C158485040 @default.
- W2896750934 hasConceptScore W2896750934C17744445 @default.
- W2896750934 hasConceptScore W2896750934C199539241 @default.
- W2896750934 hasConceptScore W2896750934C2776650193 @default.
- W2896750934 hasConceptScore W2896750934C2777735758 @default.
- W2896750934 hasConceptScore W2896750934C31258907 @default.
- W2896750934 hasConceptScore W2896750934C31972630 @default.
- W2896750934 hasConceptScore W2896750934C33923547 @default.
- W2896750934 hasConceptScore W2896750934C41008148 @default.
- W2896750934 hasConceptScore W2896750934C62611344 @default.
- W2896750934 hasConceptScore W2896750934C66938386 @default.
- W2896750934 hasConceptScore W2896750934C80444323 @default.
- W2896750934 hasConceptScore W2896750934C81074085 @default.
- W2896750934 hasConceptScore W2896750934C90509273 @default.
- W2896750934 hasLocation W28967509341 @default.
- W2896750934 hasOpenAccess W2896750934 @default.
- W2896750934 hasPrimaryLocation W28967509341 @default.
- W2896750934 hasRelatedWork W1844601532 @default.
- W2896750934 hasRelatedWork W2126380264 @default.
- W2896750934 hasRelatedWork W2356789814 @default.
- W2896750934 hasRelatedWork W2362018502 @default.
- W2896750934 hasRelatedWork W2368795992 @default.
- W2896750934 hasRelatedWork W2966249567 @default.
- W2896750934 hasRelatedWork W2982486675 @default.
- W2896750934 hasRelatedWork W3111684308 @default.
- W2896750934 hasRelatedWork W3122122033 @default.
- W2896750934 hasRelatedWork W4296467043 @default.
- W2896750934 isParatext "false" @default.
- W2896750934 isRetracted "false" @default.
- W2896750934 magId "2896750934" @default.
- W2896750934 workType "article" @default.