Members

Photo Marcel Heintz (186 kByte)

Marcel Heintz

University of Kaiserslautern

Informatics Faculty
AG Embedded Systems and Robotics (RESY)
Building 48, Room 365
67663 Kaiserslautern

Phone:
Fax:
E-mail:	m_heintz@informatik.uni-kl.de
Http://	resy.informatik.uni-kl.de/members/heintz/index.htm www.pegasoft.de

Current Occupation

Diploma Thesis: "Analysis of Phantom Obstacles" (Part of SIMERO-Project)

Previous Work

Project Thesis: "Implementation and Comparison of Pathplanning-Algorithms in Configurationspace" (Part of SIMERO-Project)

Three pathplanning algorithms were implemented, the BestFirst-, the HDI- and the Randomized-Roadmap-Algorithm. Because of different results of sensor data, a simulation was written. The simulation replaces the collisiontest and puts out static data. The three algorithms had to find a path between two configurations without colliding in six different benchmarks (simple, detour, trap, doubletrap, star, bottleneck). By comparing the number of collisiontests , the time to find a path and by the length of the found path, the best results were obtained by the BestFirst -Algorithm.

Presentation Slides (PDF 790KB)

Demo Video (AVI 1.78MB)

Private Contact

Theodor-Storm-Str. 3 App C4
Phone: +49 (631) 26533
Fax: +49 (6131) 496932

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