Detail publikace

Rectilinear Voronoi Diagram-Based Motion Planning in the Plane with Obstacles

ŠEDA, M.

Originální název

Rectilinear Voronoi Diagram-Based Motion Planning in the Plane with Obstacles

Typ

článek v časopise - ostatní, Jost

Jazyk

angličtina

Originální abstrakt

A Voronoi diagram of a set of sites in the Euclidean plane is a collection of regions that divide up the plane. Each region corresponds to one of the sites and all the points in one region are closer to the site representing the region than to the other site. Voronoi diagrams have a surprising variety of uses, e.g. nearest neighbour search, facility location, path planning, etc. In this paper, we investigate the problem of 8-directional robot motion planning where the goal is to find a collision-free path from the starting to the target position in the 2D space containing point and rectangular obstacles. In contrast to the traditional approaches frequently based on genetic algorithms, we propose a method for solving this problem using rectilinear Voronoi diagrams.

Klíčová slova v angličtině

motion planning, Voronoi diagram, rectilinear metric

Autoři

ŠEDA, M.

Rok RIV

2004

Vydáno

1. 9. 2004

ISSN

0033-2089

Periodikum

Elektronika

Ročník

2004

Číslo

8-9

Stát

Polská republika

Strany od

24

Strany do

26

Strany počet

3

BibTex

@article{BUT46231,
  author="Miloš {Šeda}",
  title="Rectilinear Voronoi Diagram-Based Motion Planning in the Plane with Obstacles",
  journal="Elektronika",
  year="2004",
  volume="2004",
  number="8-9",
  pages="3",
  issn="0033-2089"
}