Publication detail

Motion Planning in the Plane with Polygonal Obstacles

ŠEDA, M.

Original Title

Motion Planning in the Plane with Polygonal Obstacles

Type

journal article - other

Language

English

Original Abstract

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 that can be classified as roadmap methods (visibility graph method, Voronoi diagram) and methods based on cell decomposition. In the paper, an approach based on Voronoi diagrams is proposed, considering point, straight line and polygonal obstacles in a completely known scene.

Key words in English

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

Authors

ŠEDA, M.

RIV year

2005

Released

1. 9. 2005

ISBN

1210-2717

Periodical

Inženýrská mechanika - Engineering Mechanics

Year of study

12

Number

4

State

Czech Republic

Pages from

253

Pages to

258

Pages count

6

BibTex

@article{BUT42791,
  author="Miloš {Šeda}",
  title="Motion Planning in the Plane with Polygonal Obstacles",
  journal="Inženýrská mechanika - Engineering Mechanics",
  year="2005",
  volume="12",
  number="4",
  pages="6",
  issn="1210-2717"
}