Publication detail

Motion Planning Using Voronoi Diagrams

ŠEDA, M.

Original Title

Motion Planning Using Voronoi Diagrams

Type

conference paper

Language

English

Original Abstract

A Voronoi diagram of a set of sites in the Euclidean plane is a collection of regions that divide up the plane. Each region corresponds to one of the sites and all the points in one region are closer to the site representing the region than to any other site. Voronoi diagrams have a surprising variety of uses, e.g. nearest neighbour search, facility location, path planning, etc. In this paper, we investigate the problem of point-to-point eightdirectional motion planning in the 2D space containing point and rectangular obstacles. and propose a method for solving this problem using rectilinear Voronoi diagrams.

Key words in English

motion planning, rectilinear metric, Voronoi diagram

Authors

ŠEDA, M.

RIV year

2003

Released

1. 5. 2003

Publisher

TU Košice

Location

Tatranská Lomnica (Slovakia)

ISBN

80-7099-509-2

Book

Proceedings of the 4th International Carpathian Control Conference ICCC ‘20003

Pages from

629

Pages to

1260

Pages count

632

BibTex

@inproceedings{BUT13221,
  author="Miloš {Šeda}",
  title="Motion Planning Using Voronoi Diagrams",
  booktitle="Proceedings of the 4th International Carpathian Control Conference ICCC ‘20003",
  year="2003",
  pages="632",
  publisher="TU Košice",
  address="Tatranská Lomnica (Slovakia)",
  isbn="80-7099-509-2"
}