Detail publikace

Planning Trajectories in the Plane with Obstacles Using Voronoi Diagrams

ŠEDA, M.

Originální název

Planning Trajectories in the Plane with Obstacles Using Voronoi Diagrams

Typ

kapitola v knize

Jazyk

angličtina

Originální abstrakt

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.

Klíčová slova v angličtině

Motion planning, genetic algorithm, case-based reasoning, Voronoi diagram, rectilinear metric

Autoři

ŠEDA, M.

Rok RIV

2003

Vydáno

1. 9. 2003

Nakladatel

DAAAM International Wien

Místo

Wien (Austria)

ISBN

3-901509-36-4

Kniha

Katalinic, B. (ed.): DAAAM International Scientific Book 2003

Edice

2003

ISSN

1726-9687

Periodikum

DAAAM International Scientific Book

Stát

Rakouská republika

Strany od

541

Strany do

554

Strany počet

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"
}