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Publication detail
ŠEDA, M.
Original Title
Planning Trajectories in the Plane with Obstacles Using Voronoi Diagrams
Type
book chapter
Language
English
Original Abstract
The task of planning trajectories plays an important role in transportation, robotics, even in information systems (sending messages). 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 (genetic algorithms, simulated annealing, tabu-search). We present a framework of such approach and show its drawbacks (combinatorial explosion, limited granularity, generating infeasible solutions). Application of the Voronoi diagrams to the studied tasks can be seen as the main result of this paper. This approach needs only polynomial time and choosing Euclidean or rectilinear metric it can be adapted to tasks with general or directional-constrained movements.
Key words in English
Motion planning, genetic algorithm, case-based reasoning, Voronoi diagram, rectilinear metric
Authors
RIV year
2003
Released
1. 9. 2003
Publisher
DAAAM International Wien
Location
Wien (Austria)
ISBN
3-901509-36-4
Book
Katalinic, B. (ed.): DAAAM International Scientific Book 2003
Edition
1726-9687
Periodical
DAAAM International Scientific Book
State
Republic of Austria
Pages from
541
Pages to
554
Pages count
14
BibTex
@inbook{BUT55305, author="Miloš {Šeda}", title="Planning Trajectories in the Plane with Obstacles Using Voronoi Diagrams", booktitle="Katalinic, B. (ed.): DAAAM International Scientific Book 2003", year="2003", publisher="DAAAM International Wien", address="Wien (Austria)", series="2003", pages="14", isbn="3-901509-36-4" }