Publication detail
Computational Geometry Data Structures in Logistics and Navigation Tasks
ŠEDA, M. ŠEDA, P.
English title
Computational Geometry Data Structures in Logistics and Navigation Tasks
Type
conference paper
Language
en
Original abstract
Computational geometry data structures have many applications, such as network optimisation, location tasks, but they can also be used in robot motion planning when a path of the shortest length must be found between the start and target positions that guarantee movements without the risk of collisions with obstacles. The paper deals with visibility graphs, strip and cell decompositions, Voronoi diagrams and compares their properties and efficiency in the investigated area. Since cell decomposition-based approaches give exponential complexity depending on the number of cells, and the knowledge base makes it possible to reduce it mostly only insignificantly, Voronoi diagrams with their polynomial complexity are more efficient for large instances. In addition, their generalized version allows them to generate smooth trajectories.
English abstract
Computational geometry data structures have many applications, such as network optimisation, location tasks, but they can also be used in robot motion planning when a path of the shortest length must be found between the start and target positions that guarantee movements without the risk of collisions with obstacles. The paper deals with visibility graphs, strip and cell decompositions, Voronoi diagrams and compares their properties and efficiency in the investigated area. Since cell decomposition-based approaches give exponential complexity depending on the number of cells, and the knowledge base makes it possible to reduce it mostly only insignificantly, Voronoi diagrams with their polynomial complexity are more efficient for large instances. In addition, their generalized version allows them to generate smooth trajectories.
Keywords in English
Voronoi diagram, robot motion planning, celland strip decompositions, case-based reasoning
Released
15.10.2020
Publisher
IEEE
Location
online
ISBN
978-1-7281-9281-9
Book
2020 12th International Congress on Ultra Modern Telecommunications and Control Systems and Workshops (ICUMT)
Pages from–to
179–184
Pages count
6
BIBTEX
@inproceedings{BUT165612,
author="Miloš {Šeda} and Pavel {Šeda},
title="Computational Geometry Data Structures in Logistics and Navigation Tasks",
booktitle="2020 12th International Congress on Ultra Modern Telecommunications and Control Systems and Workshops (ICUMT)",
year="2020",
month="October",
pages="179--184",
publisher="IEEE",
address="online",
isbn="978-1-7281-9281-9"
}