Home // International Journal On Advances in Software, volume 7, numbers 3 and 4, 2014 // View article

Spatial Trajectory Planning based on Visibility Clustering Analysis in Urban Environments

Authors:
Oren Gal
Yerach Doytsher

Keywords: 3D; Spatial analysis; Motion Planning.

Abstract:
In this paper, we present a conceptual Spatial Trajectory Planning (STP) method using Rapid Random Trees (RRT) planner, generating visibility motion primitives in urban environments. Visibility motion primitives are set by using Spatial Visibility Clustering (SVC) analysis. Our Spatial Visibility Clustering (SVC) method estimates the number of clusters (groups) k, based on 3D visible volumes analysis in urban environments. Our SVC method proposes fast and exact 3D visible volumes analysis in urban scenes based on an analytic solution. We test and analyze the SVC method by using real records of pedestrians' mobility datasets from the city of Melbourne and by setting control points for efficient monitoring and control using a K-means clustering algorithm.

Pages: 526 to 538

Copyright: Copyright (c) to authors, 2014. Used with permission.

Publication date: December 30, 2014

Published in: journal

ISSN: 1942-2628