Motion Planning in the Plane Using Voronoi Diagrams

conference paper

English

In robot motion planning the 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, e.g. visibility graph method or the shortest path map method. Assuming movements only in a restricted number of directions (eight directional, horizontal/vertical) the task, with respect to its combinatorial nature, can be solved by heuristic techniques. In contrast to this approach, an application of the Voronoi diagrams needs only polynomial time and choosing Euclidean or rectilinear metric it can be adapted to tasks with general or directional-constrained movements.

motion planning, roadmap method, computational geometry, visibility graph, Voronoi diagram

ŠEDA, M.

2005

3. 11. 2005

Editura Academiei Romane

Bucuresti (Romania)

973-27-1254-6

Proceedings of the 4th International Conference on Advanced Manufacturing Technologies ICAMaT 2005

469

474

6