Publication result detail

Planning Smooth Trajectories in the Plane with Obstacles.

ŠEDA, M.; PICH, V.

Original Title

Planning Smooth Trajectories in the Plane with Obstacles.

English Title

Planning Smooth Trajectories in the Plane with Obstacles.

Type

Peer-reviewed article not indexed in WoS or Scopus

Original Abstract

In robot motion planning in a space with obstacles, the goal is to find a collision-free path of robot from the starting to the target position. There are many approaches depending on types of obstacles, dimensionality of the space and restrictions for robot movements. Among the most frequently used are roadmap methods (visibility graphs, Voronoi diagrams, rapidly exploring random trees) and methods based on cell decomposition. A common feature of all these methods is the generating of trajectories composed from line segments. In this paper, we will show that generalised Voronoi diagrams can be used for fast generation of smooth paths sufficiently distant from obstacles.

English abstract

In robot motion planning in a space with obstacles, the goal is to find a collision-free path of robot from the starting to the target position. There are many approaches depending on types of obstacles, dimensionality of the space and restrictions for robot movements. Among the most frequently used are roadmap methods (visibility graphs, Voronoi diagrams, rapidly exploring random trees) and methods based on cell decomposition. A common feature of all these methods is the generating of trajectories composed from line segments. In this paper, we will show that generalised Voronoi diagrams can be used for fast generation of smooth paths sufficiently distant from obstacles.

Keywords

motion planning, roadmap method, generalised Voronoi diagram

Key words in English

motion planning, roadmap method, generalised Voronoi diagram

Authors

ŠEDA, M.; PICH, V.

RIV year

2010

Released

01.12.2008

Publisher

Univerzita obrany

Location

Brno

ISBN

1802-3525

Periodical

Cybernetic Letters

Volume

6

Number

II

State

Czech Republic

Pages from

1

Pages to

5

Pages count

5

BibTex

@article{BUT48180,
  author="Miloš {Šeda} and Václav {Pich}",
  title="Planning Smooth Trajectories in the Plane with Obstacles.",
  journal="Cybernetic Letters",
  year="2008",
  volume="6",
  number="II",
  pages="1--5",
  issn="1802-3525"
}