Detail publikace

Computational Geometry-Based Approach to Robot Motion Planning

ŠEDA, M.

Originální název

Computational Geometry-Based Approach to Robot Motion Planning

Typ

kapitola v knize

Jazyk

angličtina

Originální abstrakt

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.

Klíčová slova v angličtině

motion planning, computational geometry, roadmap methods, Voronoi diagram

Autoři

ŠEDA, M.

Rok RIV

2005

Vydáno

30. 12. 2005

Nakladatel

Brno University of Technology, FME

Místo

Brno

ISBN

80-214-3144-X

Kniha

Březina, T. (ed.): Simulation Modelling of Mechatronics Systems I

Edice

I

Strany od

53

Strany do

63

Strany počet

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"
}