All language subtitles for 02_2-5-trapezoidal-decomposition.en

af Afrikaans
ak Akan
sq Albanian
am Amharic
ar Arabic Download
hy Armenian
az Azerbaijani
eu Basque
be Belarusian
bem Bemba
bn Bengali
bh Bihari
bs Bosnian
br Breton
bg Bulgarian
km Cambodian
ca Catalan
chr Cherokee
ny Chichewa
zh-CN Chinese (Simplified)
zh-TW Chinese (Traditional)
co Corsican
hr Croatian
cs Czech
da Danish
nl Dutch
en English
eo Esperanto
et Estonian
ee Ewe
fo Faroese
tl Filipino
fi Finnish
fr French
fy Frisian
gaa Ga
gl Galician
ka Georgian
de German
el Greek
gn Guarani
gu Gujarati
ht Haitian Creole
ha Hausa
haw Hawaiian
iw Hebrew
hi Hindi
hu Hungarian
is Icelandic
ig Igbo
id Indonesian
ia Interlingua
ga Irish
it Italian
ja Japanese
jw Javanese
kn Kannada
kk Kazakh
rw Kinyarwanda
rn Kirundi
kg Kongo
ko Korean
kri Krio (Sierra Leone)
ku Kurdish
ckb Kurdish (Soranî)
ky Kyrgyz
lo Laothian
la Latin
lv Latvian
ln Lingala
lt Lithuanian
loz Lozi
lg Luganda
ach Luo
mk Macedonian
mg Malagasy
ms Malay
ml Malayalam
mt Maltese
mi Maori
mr Marathi
mfe Mauritian Creole
mo Moldavian
mn Mongolian
sr-ME Montenegrin
ne Nepali
pcm Nigerian Pidgin
nso Northern Sotho
no Norwegian
nn Norwegian (Nynorsk)
oc Occitan
or Oriya
om Oromo
ps Pashto
fa Persian
pl Polish
pt-BR Portuguese (Brazil)
pt-PT Portuguese (Portugal)
pa Punjabi
qu Quechua
ro Romanian
rm Romansh
nyn Runyakitara
ru Russian
gd Scots Gaelic
sr Serbian
sh Serbo-Croatian
st Sesotho
tn Setswana
crs Seychellois Creole
sn Shona
sd Sindhi
si Sinhalese
sk Slovak
sl Slovenian
so Somali
es Spanish
es-419 Spanish (Latin American)
su Sundanese
sw Swahili
sv Swedish
tg Tajik
ta Tamil
tt Tatar
te Telugu
th Thai
ti Tigrinya
to Tonga
lua Tshiluba
tum Tumbuka
tr Turkish
tk Turkmen
tw Twi
ug Uighur
uk Ukrainian
ur Urdu
uz Uzbek
vi Vietnamese
cy Welsh
wo Wolof
xh Xhosa
yi Yiddish
yo Yoruba
zu Zulu
Would you like to inspect the original subtitles? These are the user uploaded subtitles that are being translated: 1 00:00:00,810 --> 00:00:04,900 Another approach to path planning that is particularly effective in situations where 2 00:00:04,900 --> 00:00:08,430 the configuration space obstacles can be modeled as polygons, 3 00:00:08,430 --> 00:00:09,590 is cell decomposition. 4 00:00:10,970 --> 00:00:16,290 Here, our goal is to divide the robot's free space into a set of simpler regions 5 00:00:16,290 --> 00:00:19,500 and then form a graph where the nodes of the regions and 6 00:00:19,500 --> 00:00:23,190 the edges indicate which regions are adjacent to each other. 7 00:00:23,190 --> 00:00:27,170 This figure shows a common approach to constructing such a decomposition for 8 00:00:27,170 --> 00:00:29,940 a two-dimensional configuration space. 9 00:00:29,940 --> 00:00:34,880 In this case, we sort the obstacle vertices based on their x-coordinates, 10 00:00:34,880 --> 00:00:39,180 and proceed from left to right, dividing the free space up into regions as we go. 11 00:00:40,890 --> 00:00:45,290 We can show that this procedure ends up dividing the two dimensional free space 12 00:00:45,290 --> 00:00:48,700 into a collection of trapezoidal or triangular regions. 13 00:00:49,790 --> 00:00:53,450 The nice thing about this is that these shapes are convex, 14 00:00:53,450 --> 00:00:56,220 which means that the robot can safely move in a straight line 15 00:00:56,220 --> 00:00:59,680 between any two points in each of the cells. 16 00:00:59,680 --> 00:01:02,380 As we said earlier we can form a graph 17 00:01:02,380 --> 00:01:05,780 where the nodes are these trapezoidal regions of free space and 18 00:01:05,780 --> 00:01:08,970 the edges indicate which of these regions are adjacent to each other. 19 00:01:08,970 --> 00:01:12,330 Path planning is then carried out by finding out which 20 00:01:12,330 --> 00:01:15,530 cell contains the start location and which the goal. 21 00:01:15,530 --> 00:01:20,210 And then planning a path through the graph between these two nodes as shown here.2009

Can't find what you're looking for?
Get subtitles in any language from opensubtitles.com, and translate them here.