Publication detail

Relaxation of Roadmap Methods of Robot Motion Planning

ŠEDA, M.

Original Title

Relaxation of Roadmap Methods of Robot Motion Planning

Type

journal article - other

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

ISBN

1109-2777

Periodical

WSEAS Transactions on Systems

Year of study

5

Number

8

State

United States of America

Pages from

1808

Pages to

1813

Pages count

6

BibTex

@article{BUT43699,
  author="Miloš {Šeda}",
  title="Relaxation of Roadmap Methods of Robot Motion Planning",
  journal="WSEAS Transactions on Systems",
  year="2006",
  volume="5",
  number="8",
  pages="6",
  issn="1109-2777"
}