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Publication detail
ŠEDA, M.
Original Title
Rectilinear Voronoi Diagram-Based Motion Planning in the Plane with Obstacles
Type
journal article - other
Language
English
Original Abstract
A Voronoi diagram of a set of sites in the Euclidean plane is a collection of regions that divide up the plane. Each region corresponds to one of the sites and all the points in one region are closer to the site representing the region than to the other site. Voronoi diagrams have a surprising variety of uses, e.g. nearest neighbour search, facility location, path planning, etc. In this paper, we investigate the problem of 8-directional robot motion planning where the goal is to find a collision-free path from the starting to the target position in the 2D space containing point and rectangular obstacles. In contrast to the traditional approaches frequently based on genetic algorithms, we propose a method for solving this problem using rectilinear Voronoi diagrams.
Key words in English
motion planning, Voronoi diagram, rectilinear metric
Authors
RIV year
2004
Released
1. 9. 2004
ISBN
0033-2089
Periodical
Elektronika
Year of study
Number
8-9
State
Republic of Poland
Pages from
24
Pages to
26
Pages count
3
BibTex
@article{BUT46231, author="Miloš {Šeda}", title="Rectilinear Voronoi Diagram-Based Motion Planning in the Plane with Obstacles", journal="Elektronika", year="2004", volume="2004", number="8-9", pages="3", issn="0033-2089" }