Accelerating Proximity Queries Accelerating Proximity Queries for Non-convex Geometries in a Robot Cell Context
dc.contributor.author | Thorén, Joakim | |
dc.contributor.department | Chalmers tekniska högskola / Institutionen för data- och informationsteknik (Chalmers) | sv |
dc.contributor.department | Chalmers University of Technology / Department of Computer Science and Engineering (Chalmers) | en |
dc.date.accessioned | 2019-07-03T14:44:58Z | |
dc.date.available | 2019-07-03T14:44:58Z | |
dc.date.issued | 2018 | |
dc.description.abstract | Sampling-based motion-planners, for example rapidly exploring dense tree (RRT) based planners, depend on fast proximity queries. Regrettably, bounding volume tests are significant bottlenecks of proximity queries. Sampling-based motion-planners are therefore accelerated by reducing the number of bounding volume tests. To this end, a novel algorithm called Forest Proximity Query (FPQ) is developed. Contrary to previous research, FPQ traverses several pairs of BVHs simultaneously, effectively exploiting an actuality that only a single minimal separation distance — out of several possible separation distances — is required during sampling-based motion-planning. An implementation of FPQ show that FPQ performs up to 67% fewer BV tests in comparison to the well-known Proximity Query Package, increasing proximity querying performance by up to 46%. In conclusion, FPQ is successful in its attempt at improving performance of sampling-based motion-planners. | |
dc.identifier.uri | https://hdl.handle.net/20.500.12380/255144 | |
dc.language.iso | eng | |
dc.setspec.uppsok | Technology | |
dc.subject | Informations- och kommunikationsteknik | |
dc.subject | Data- och informationsvetenskap | |
dc.subject | Information & Communication Technology | |
dc.subject | Computer and Information Science | |
dc.title | Accelerating Proximity Queries Accelerating Proximity Queries for Non-convex Geometries in a Robot Cell Context | |
dc.type.degree | Examensarbete för masterexamen | sv |
dc.type.degree | Master Thesis | en |
dc.type.uppsok | H | |
local.programme | Complex adaptive systems (MPCAS), MSc |
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