Publication detail
Computational Geometry-Based Approach to Robot Motion Planning
ŠEDA, M.
English title
Computational Geometry-Based Approach to Robot Motion Planning
Type
Chapter in a book
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.
Released
2005-12-30
Publisher
Brno University of Technology, FME
Location
Brno
ISBN
80-214-3144-X
Book
Březina, T. (ed.): Simulation Modelling of Mechatronics Systems I
Pages from–to
53–
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",
publisher="Brno University of Technology, FME",
address="Brno",
series="I",
pages="11",
isbn="80-214-3144-X"
}