Publication detail

Relaxation of Roadmap Methods of Robot Motion Planning

ŠEDA, M.

Original Title

Relaxation of Roadmap Methods of Robot Motion Planning

Type

conference paper

Language

English

Original Abstract

In robot motion planning a robot should pass around the obstacles, from a given starting position to a given target position, touching none of them, i.e. the goal is to find a collision-free path from the starting to the target position. This task has many specific formulations depending on the shape of obstacles, allowable directions of movements, knowledge of the scene, etc. Research on path planning has yielded many fundamentally different approaches to its solution that can be classified as roadmap methods (visibility graph method, Voronoi diagram) and methods based on cell decomposition. In this work, an approach based on Voronoi diagrams is proposed, considering point, straight line and polygonal obstacles in a completely known scene. Approximating polygonal obstacles by sets of points makes it possible to apply roadmap methods to more complex problems.

Keywords

robot motion planning, roadmap methods, Voronoi diagram

Authors

ŠEDA, M.

RIV year

2006

Released

1. 7. 2006

Publisher

WSEAS

Location

Athens

ISBN

960-8457-47-5

Book

Proceedings of the 10th WSEAS International Conference on Systems

Pages from

642

Pages to

647

Pages count

6

BibTex

@inproceedings{BUT20353,
  author="Miloš {Šeda}",
  title="Relaxation of Roadmap Methods of Robot Motion Planning",
  booktitle="Proceedings of the 10th WSEAS International Conference on Systems",
  year="2006",
  pages="6",
  publisher="WSEAS",
  address="Athens",
  isbn="960-8457-47-5"
}