Computing Paths Using Computational Geometry Data Structures

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en

Finding the shortest path from a specified starting position to a target position is a fundamental problem in transportation, routing, and communications applications. In robot motion planning, the robot should pass around the obstacles 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 of path planning has yielded many fundamentally different approaches to its solution, mainly based on various decomposition and roadmap methods. In this paper, we investigate a possible use of visibility graphs and Voronoi diagrams in point-to-point motion planning and propose a method for solving this problem on in the Euclidean plane.

2005-09-26

Bachcesehir University Istanbul

Antalya (Turkey)

9958-617-28-5

Proceedings of the 9th International Research/Expert Conference Trends in the Development of Machinery and Associated Technology TMT 2005

685–

4