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Detail publikace
ŠEDA, M. ŠEDA, P.
Originální název
Computational Geometry Data Structures in Logistics and Navigation Tasks
Typ
článek ve sborníku ve WoS nebo Scopus
Jazyk
angličtina
Originální abstrakt
Computational geometry data structures have many applications, such as network optimisation, location tasks, but they can also be used in robot motion planning when a path of the shortest length must be found between the start and target positions that guarantee movements without the risk of collisions with obstacles. The paper deals with visibility graphs, strip and cell decompositions, Voronoi diagrams and compares their properties and efficiency in the investigated area. Since cell decomposition-based approaches give exponential complexity depending on the number of cells, and the knowledge base makes it possible to reduce it mostly only insignificantly, Voronoi diagrams with their polynomial complexity are more efficient for large instances. In addition, their generalized version allows them to generate smooth trajectories.
Klíčová slova
Voronoi diagram, robot motion planning, celland strip decompositions, case-based reasoning
Autoři
ŠEDA, M.; ŠEDA, P.
Vydáno
15. 10. 2020
Nakladatel
IEEE
Místo
online
ISBN
978-1-7281-9281-9
Kniha
2020 12th International Congress on Ultra Modern Telecommunications and Control Systems and Workshops (ICUMT)
Strany od
179
Strany do
184
Strany počet
6
URL
https://ieeexplore.ieee.org/document/9222453
BibTex
@inproceedings{BUT165612, author="Miloš {Šeda} and Pavel {Šeda}", title="Computational Geometry Data Structures in Logistics and Navigation Tasks", booktitle="2020 12th International Congress on Ultra Modern Telecommunications and Control Systems and Workshops (ICUMT)", year="2020", pages="179--184", publisher="IEEE", address="online", doi="10.1109/ICUMT51630.2020.9222453", isbn="978-1-7281-9281-9", url="https://ieeexplore.ieee.org/document/9222453" }