Publication detail

Computing Paths Using Computational Geometry Data Structures

ŠEDA, M.

Original Title

Computing Paths Using Computational Geometry Data Structures

Type

conference paper

Language

English

Original Abstract

Finding the shortest path from a specified starting position to a target position is a fundamental problem in transportation, routing, and communications applications. In robot motion planning, the robot should pass around the obstacles 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 of path planning has yielded many fundamentally different approaches to its solution, mainly based on various decomposition and roadmap methods. In this paper, we investigate a possible use of visibility graphs and Voronoi diagrams in point-to-point motion planning and propose a method for solving this problem on in the Euclidean plane.

Key words in English

planning, computational geometry, visibility graph, Voronoi diagram

Authors

ŠEDA, M.

RIV year

2005

Released

26. 9. 2005

Publisher

Bachcesehir University Istanbul

Location

Antalya (Turkey)

ISBN

9958-617-28-5

Book

Proceedings of the 9th International Research/Expert Conference Trends in the Development of Machinery and Associated Technology TMT 2005

Pages from

685

Pages to

688

Pages count

4

BibTex

@inproceedings{BUT15917,
  author="Miloš {Šeda}",
  title="Computing Paths Using Computational Geometry Data Structures",
  booktitle="Proceedings of the 9th International Research/Expert Conference Trends in the Development of Machinery and Associated Technology TMT 2005",
  year="2005",
  pages="4",
  publisher="Bachcesehir University Istanbul",
  address="Antalya (Turkey)",
  isbn="9958-617-28-5"
}