Publication detail

Computational Geometry-Based Approach to Robot Motion Planning

ŠEDA, M.

Original Title

Computational Geometry-Based Approach to Robot Motion Planning

Type

book chapter

Language

English

Original Abstract

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 this work, an approach based on Voronoi diagrams is proposed, considering point, straight line and polygonal obstacles in a completely known scene.

Key words in English

motion planning, computational geometry, roadmap methods, Voronoi diagram

Authors

ŠEDA, M.

RIV year

2005

Released

30. 12. 2005

Publisher

Brno University of Technology, FME

Location

Brno

ISBN

80-214-3144-X

Book

Březina, T. (ed.): Simulation Modelling of Mechatronics Systems I

Edition

I

Pages from

53

Pages to

63

Pages count

11

BibTex

@inbook{BUT55573,
  author="Miloš {Šeda}",
  title="Computational Geometry-Based Approach to Robot Motion Planning",
  booktitle="Březina, T. (ed.): Simulation Modelling of Mechatronics Systems I",
  year="2005",
  publisher="Brno University of Technology, FME",
  address="Brno",
  series="I",
  pages="11",
  isbn="80-214-3144-X"
}