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Description
  • In robot motion planning a 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. Approximat ing polygonal obstacles by sets of points makes it possible to apply roadmap methods to more complex problems.
  • In robot motion planning a 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. Approximat ing polygonal obstacles by sets of points makes it possible to apply roadmap methods to more complex problems. (en)
  • 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 odlišných přístupů řešení, které se označují jako metody silniční mapy (grafy viditelnosti, Voronoiovy diagramy) a metody založené na různých dekompozicích scény. V příspěvku je navržen přístup zzaložený na Voronoiových diagramech pro bodové, čárové a mnohoúhelníkové překážky v úplně známé scéně. Aproximace mnohoúhelníkových překážek množinami bodů umožňuje aplikovat metody silniční mapy na složitější problémy. (cs)
Title
  • Relaxation of Roadmap Methods of Robot Motion Planning
  • Relaxation of Roadmap Methods of Robot Motion Planning (en)
  • Zeslabení metod silniční mapy v plánování pohybu robota (cs)
skos:prefLabel
  • Relaxation of Roadmap Methods of Robot Motion Planning
  • Relaxation of Roadmap Methods of Robot Motion Planning (en)
  • Zeslabení metod silniční mapy v plánování pohybu robota (cs)
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  • RIV/00216305:26210/06:PU62364!RIV06-MSM-26210___
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  • 642-647
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  • 497116
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  • RIV/00216305:26210/06:PU62364
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  • motion planning, cell decomposition, roadmap method, visibility graph, Voronoi diagram (en)
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  • [268FE283CADE]
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  • Athens
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  • Proceedings of the 10th WSEAS International Conference on Systems
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  • Šeda, Miloš
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  • WSEAS
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  • 960-8457-47-5
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  • 26210
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