Publication detail
Relaxation of Roadmap Methods of Robot Motion Planning
ŠEDA, M.
Czech title
Zeslabení metod silniční mapy v plánování pohybu robota
English title
Relaxation of Roadmap Methods of Robot Motion Planning
Type
conference paper
Language
en
Original abstract
In robot motion planning a 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. Approximating polygonal obstacles by sets of points makes it possible to apply roadmap methods to more complex problems.
Czech abstract
V úloze plánování pohybu robotu má robot projít z počáteční do koncové pozice ve scéně s překážkami tak, aby nedošlo ke kolizi s některou z překážek. Tato úloha má řadu specifických formulací, které závisí na tvaru překážek, povolenému způsobu pohybu, znalosti scény atd. Výzkum této problematiky přinesl několik odlišných přístupů řešení, které se označují jako metody silniční mapy (grafy viditelnosti, Voronoiovy diagramy) a metody založené na různých dekompozicích scény. V příspěvku je navržen přístup založený na Voronoiových diagramech pro bodové, čárové a mnohoúhelníkové překážky v úplně známé scéně. Aproximace mnohoúhelníkových překážek množinami bodů umožňuje aplikovat metody silniční mapy na složitější problémy.
English abstract
In robot motion planning a 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. Approximating polygonal obstacles by sets of points makes it possible to apply roadmap methods to more complex problems.
Keywords in Czech
plánování pohybu robota, metody silniční mapy, Voronoiův diagram
Keywords in English
robot motion planning, roadmap methods, Voronoi diagram
RIV year
2006
Released
01.07.2006
Publisher
WSEAS
Location
Athens
ISBN
960-8457-47-5
Book
Proceedings of the 10th WSEAS International Conference on Systems
Pages count
6
BIBTEX
@inproceedings{BUT20353,
author="Miloš {Šeda},
title="Relaxation of Roadmap Methods of Robot Motion Planning",
booktitle="Proceedings of the 10th WSEAS International Conference on Systems",
year="2006",
month="July",
publisher="WSEAS",
address="Athens",
isbn="960-8457-47-5"
}