Publication detail
Real-Time Robot Motion Planning Based on the Generalised Voronoi Diagram
ŠVEC, P.
Czech title
Plánování pohybu robotu v reálném čase založené na zobecněném Voroného diagramu
English title
Real-Time Robot Motion Planning Based on the Generalised Voronoi Diagram
Type
book chapter
Language
en
Original abstract
Real-time motion planning of an autonomous robot in an unknown or partially known indoor or outdoor environment is a difficult task, especially when the generated path must preserve the safest distance from surrounding obstacles and the robot's kinodynamics properties, its localisation, and uncertainty of the environment are also considered. A novel approximation geometric algorithm for computing the generalised Voronoi diagram based on the Fortune plane sweep technique is proposed, which presents a trade-off between the efficiency of computation, implementation difficulty, and robustness. This algorithm is further utilised in a new real-time motion planning technique.
Czech abstract
Plánování pohybu autonomního robotu v reálném čase v neznámém nebo částečně známém vnitřním nebo venkovním prostředí je složitou úlohou, zvláště když generovaná trasa musí zachovávat nejbezpečnější vzdálenost od překážek v okolí a jsou uvažovány kinematické a dynamické vlastnosti robotu, jeho lokalizace a neurčitost prostředí. V textu je navržen nový aproximativní geometrický algoritmus pro výpočet zobecněného Voroného diagramu založený na Fortuneho zametacím algoritmu, který představuje kompromis mezi efektivitou výpočtu, složitostí implementace a robustností. Navržený algoritmus je dále využit v nové technice pro plánování pohybu v reálném čase.
English abstract
Real-time motion planning of an autonomous robot in an unknown or partially known indoor or outdoor environment is a difficult task, especially when the generated path must preserve the safest distance from surrounding obstacles and the robot's kinodynamics properties, its localisation, and uncertainty of the environment are also considered. A novel approximation geometric algorithm for computing the generalised Voronoi diagram based on the Fortune plane sweep technique is proposed, which presents a trade-off between the efficiency of computation, implementation difficulty, and robustness. This algorithm is further utilised in a new real-time motion planning technique.
Keywords in Czech
plánování pohybu robotu, Voroného diagram, zametací algoritmus, výpočet v reálném čase
Keywords in English
robot motion planning, Voronoi diagram, plane sweep algorithm, real-time
RIV year
2007
Released
31.12.2007
Publisher
Brno University of Technology, Faculty of Mechanical Engineering
Location
Brno
ISBN
978-80-214-3559-9
Book
Simulation Modelling of Mechatronic Systems III
Edition number
3
Pages from–to
121–131
Pages count
11
BIBTEX
@inbook{BUT55433,
author="Petr {Švec},
title="Real-Time Robot Motion Planning Based on the Generalised Voronoi Diagram",
booktitle="Simulation Modelling of Mechatronic Systems III",
year="2007",
month="December",
pages="121--131",
publisher="Brno University of Technology, Faculty of Mechanical Engineering",
address="Brno",
isbn="978-80-214-3559-9"
}