원문정보
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초록
영어
The process of evaluating a built environment for accessibility is known as “accessibility assessment.” Determining accessibility is closely related to the problem of determining possible motions of a specific kinematic structure – given an environment and a mobile device, how much of the environment is accessible? Given these similarities, here the accessibility assessment process is reformulated as a motion planning problem. Rather than treating each of the degrees of freedom ‘equally’ while planning, we explore a hierarchical characteristic of all of the degrees of freedom when constructing the roadmap. The approach is demonstrated on simulated environments as well as on a student residence at York University.
목차
Abstract
1. Introduction
2. Traditional accessibility assessment and existing tools
3. Formal statement of the problem
4. Hierarchical probabilistic roadmap method
4.1. Hierarchical probabilistic roadmaps
4.2. Construction of the hierarchical probabilistic roadmap
4.3. An example
5. A practical assessment
5.1. Experimental setup
5.2. Implementation details
5.3. Reachable workspace estimation
6. Summary and future work
References
1. Introduction
2. Traditional accessibility assessment and existing tools
3. Formal statement of the problem
4. Hierarchical probabilistic roadmap method
4.1. Hierarchical probabilistic roadmaps
4.2. Construction of the hierarchical probabilistic roadmap
4.3. An example
5. A practical assessment
5.1. Experimental setup
5.2. Implementation details
5.3. Reachable workspace estimation
6. Summary and future work
References
저자정보
참고문헌
자료제공 : 네이버학술정보