About: Robot Navigation Using Voronoi Diagrams

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An Entity of Type : http://linked.opendata.cz/ontology/domain/vavai/Vysledek, within Data Space : linked.opendata.cz associated with source document(s)

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rdf:type	skos:Concept http://linked.opendata.cz/ontology/domain/vavai/Vysledek
Description	The task of planning trajectories plays an important role in transportation, robotics, etc. 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, e.g. visibility graph method or the shortest path map method. Assuming movements only in a restricted number of directions (eight directional, horizontal/vertical) the task, with respect to its combinatorial nature, must be solved by heuristic techniques. We propose an application of the Voronoi diagrams to the studied tasks and show that this approach needs only polynomial time and choosing Euclidean or rectilinear metric it can be adapted to The task of planning trajectories plays an important role in transportation, robotics, etc. 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, e.g. visibility graph method or the shortest path map method. Assuming movements only in a restricted number of directions (eight directional, horizontal/vertical) the task, with respect to its combinatorial nature, must be solved by heuristic techniques. We propose an application of the Voronoi diagrams to the studied tasks and show that this approach needs only polynomial time and choosing Euclidean or rectilinear metric it can be adapted to (en)
Title	Robot Navigation Using Voronoi Diagrams Robot Navigation Using Voronoi Diagrams (en)
skos:prefLabel	Robot Navigation Using Voronoi Diagrams Robot Navigation Using Voronoi Diagrams (en)
skos:notation	RIV/00216305:26210/04:PU47006!RIV11-MSM-26210___
http://linked.open...avai/riv/aktivita	V Z
http://linked.open...avai/riv/aktivity	V, Z(MSM 260000013), Z(MSM 261100009), Z(MSM 262100024)
http://linked.open...vai/riv/dodaniDat	2011
http://linked.open...aciTvurceVysledku	Šeda, Miloš
http://linked.open.../riv/druhVysledku	D - Článek ve sborníku
http://linked.open...iv/duvernostUdaju	S - Úplné a pravdivé údaje nepodléhající ochraně podle zvláštních právních předpisů
http://linked.open...titaPredkladatele	Vysoké učení technické v Brně / Fakulta strojního inženýrství
http://linked.open...dnocenehoVysledku	584853
http://linked.open...ai/riv/idVysledku	RIV/00216305:26210/04:PU47006
http://linked.open...riv/jazykVysledku	eng - angličtina
http://linked.open.../riv/klicovaSlova	Motion planning, Voronoi diagram, rectilinear metric (en)
http://linked.open.../riv/klicoveSlovo	Voronoi diagram Motion planning rectilinear metric
http://linked.open...ontrolniKodProRIV	[E15E6A0B5F8A]
http://linked.open...v/mistoKonaniAkce	Svratka
http://linked.open...i/riv/mistoVydani	Svratka
http://linked.open...i/riv/nazevZdroje	Book of Extended Abstracts of the National Conference with International Participation Engineering Mechanics 2004
http://linked.open...in/vavai/riv/obor	JD
http://linked.open...ichTvurcuVysledku	1 (xsd:int)
http://linked.open...cetTvurcuVysledku	1 (xsd:int)
http://linked.open...UplatneniVysledku	2004
http://linked.open...iv/tvurceVysledku	Šeda, Miloš
http://linked.open...vavai/riv/typAkce	CST - Celostátní
http://linked.open.../riv/zahajeniAkce	2004-05-10 (xsd:date)
http://linked.open...n/vavai/riv/zamer	http://linked.opendata.cz/resource/domain/vavai/zamer/MSM%20262100024 http://linked.opendata.cz/resource/domain/vavai/zamer/MSM%20260000013 http://linked.opendata.cz/resource/domain/vavai/zamer/MSM%20261100009
number of pages	2 (xsd:int)
http://purl.org/ne...btex#hasPublisher	Akademie věd České republiky
https://schema.org/isbn	80-85918-88-9
http://localhost/t...ganizacniJednotka	26210

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