Applied Sciences, Volume 13, Issue 1
2023 January-1 - 675 articles
Cover Story: A digital twin describes the virtual presentation of a real process. Designing suitable digital twins for the path planning of autonomous robots or drones is often challenging due to a large number of different dynamic environments and multi-task and agent systems. In this work, homotopic shrinking is used to generate the digital twin, which can be used to extract all possible path proposals. Such a deterministic path algorithm can flexibly respond to changing environmental conditions and consider multiple tasks simultaneously for path generation. The method is tested on 2D and 3D maps with different tasks, obstacles, and multiple robots. Finally, it was shown that the environment for the digital twin can be reduced to reasonable paths by constrained shrinking, both for real 2D maps and for complex virtual 2D and 3D maps. View this paper - Issues are regarded as officially published after their release is announced to the table of contents alert mailing list .
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