Publication detail
Motion Planning Using Voronoi Diagrams
ŠEDA, M.
English title
Motion Planning Using Voronoi Diagrams
Type
conference paper
Language
en
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.
English 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.
Keywords in English
motion planning, rectilinear metric, Voronoi diagram
RIV year
2003
Released
01.05.2003
Publisher
TU Košice
Location
Tatranská Lomnica (Slovakia)
ISBN
80-7099-509-2
Book
Proceedings of the 4th International Carpathian Control Conference ICCC ‘20003
Pages 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",
month="May",
publisher="TU Košice",
address="Tatranská Lomnica (Slovakia)",
isbn="80-7099-509-2"
}