Detail publikačního výsledku

Motion Planning in the Plane with Polygonal Obstacles

ŠEDA, M.

Originální název

Motion Planning in the Plane with Polygonal Obstacles

Anglický název

Motion Planning in the Plane with Polygonal Obstacles

Druh

Článek recenzovaný mimo WoS a Scopus

Originální abstrakt

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.

Anglický abstrakt

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.

Klíčová slova v angličtině

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

Autoři

ŠEDA, M.

Vydáno

01.09.2005

ISSN

1210-2717

Periodikum

Inženýrská mechanika - Engineering Mechanics

Svazek

12

Číslo

4

Stát

Česká republika

Strany od

253

Strany počet

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"
}