Publication detail
Computational Geometry-Based Approach to Robot Motion Planning
ŠEDA, M.
Czech title
Plánování pohybu robotu s využitím přístupu založeném na počítačové geometrii
English title
Computational Geometry-Based Approach to Robot Motion Planning
Type
book chapter
Language
en
Original abstract
In robot motion planning the 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.
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 zcela odlišných přístupů řešení, které jsou klasifikovány jako metody silniční mapy (patří sem grafy viditelnosti a Voronoiovy diagramy) a metody založené na dekompozici scény na síť buněk. V příspěvku je navržen přístup založený na Voronoiových diagramech s uvažením bodových, čárových a mnohoúhelníkových překážek ve známé scéně.
English abstract
In robot motion planning the 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.
Keywords in English
motion planning, computational geometry, roadmap methods, Voronoi diagram
RIV year
2005
Released
30.12.2005
Publisher
Brno University of Technology, FME
Location
Brno
ISBN
80-214-3144-X
Book
Březina, T. (ed.): Simulation Modelling of Mechatronics Systems I
Pages count
11
BIBTEX
@inbook{BUT55573,
author="Miloš {Šeda},
title="Computational Geometry-Based Approach to Robot Motion Planning",
booktitle="Březina, T. (ed.): Simulation Modelling of Mechatronics Systems I",
year="2005",
month="December",
publisher="Brno University of Technology, FME",
address="Brno",
isbn="80-214-3144-X"
}