Detail publikace

Planning Smooth Trajectories in the Plane with Obstacles.

ŠEDA, M. PICH, V.

Originální název

Planning Smooth Trajectories in the Plane with Obstacles.

Typ

článek v časopise - ostatní, Jost

Jazyk

angličtina

Originální abstrakt

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.

Klíčová slova

motion planning, roadmap method, generalised Voronoi diagram

Autoři

ŠEDA, M.; PICH, V.

Rok RIV

2008

Vydáno

1. 12. 2008

Nakladatel

Univerzita obrany

Místo

Brno

ISSN

1802-3525

Periodikum

Cybernetic Letters

Ročník

6

Číslo

II

Stát

Česká republika

Strany od

1

Strany do

5

Strany počet

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"
}