About: Robot Motion Planning in the Plane with Polygonal Obstacles

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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 find a collision-free path from the starting to the target position. Research on path planning has yielded many fundamentally different approaches to the solution of this problem that can be classified as roadmap methods (visibility graph method, Voronoi diagram) and methods based on cell decomposition. Assuming movements only in a restricted number of directions (eight directional or horizontal/vertical) the task, with respect to its combinatorial nature, can be solved by decomposition methods using heuristic techniques. We present drawbacks of these methods. Then, using the Voronoi diagrams, we need only polynomial time for finding a solution and, choosing a Euclidean or rectilinear metric, it can be adapted to tasks with general or directional-constrained movements. The task of planning trajectories plays an important role in transportation, robotics, etc. In robot motion planning, the robot should find a collision-free path from the starting to the target position. Research on path planning has yielded many fundamentally different approaches to the solution of this problem that can be classified as roadmap methods (visibility graph method, Voronoi diagram) and methods based on cell decomposition. Assuming movements only in a restricted number of directions (eight directional or horizontal/vertical) the task, with respect to its combinatorial nature, can be solved by decomposition methods using heuristic techniques. We present drawbacks of these methods. Then, using the Voronoi diagrams, we need only polynomial time for finding a solution and, choosing a Euclidean or rectilinear metric, it can be adapted to tasks with general or directional-constrained movements. (en)
Title	Robot Motion Planning in the Plane with Polygonal Obstacles Robot Motion Planning in the Plane with Polygonal Obstacles (en)
skos:prefLabel	Robot Motion Planning in the Plane with Polygonal Obstacles Robot Motion Planning in the Plane with Polygonal Obstacles (en)
skos:notation	RIV/00216305:26210/08:PU76869!RIV10-MSM-26210___
http://linked.open...avai/riv/aktivita	Z
http://linked.open...avai/riv/aktivity	Z(MSM0021630529)
http://linked.open...vai/riv/dodaniDat	2010
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	393033
http://linked.open...ai/riv/idVysledku	RIV/00216305:26210/08:PU76869
http://linked.open...riv/jazykVysledku	eng - angličtina
http://linked.open.../riv/klicovaSlova	motion planning, cell decomposition, sampling methods, roadmap method (en)
http://linked.open.../riv/klicoveSlovo	sampling methods motion planning cell decomposition roadmap method
http://linked.open...ontrolniKodProRIV	[BA6041E8C995]
http://linked.open...v/mistoKonaniAkce	Predeal (Romania)
http://linked.open...i/riv/mistoVydani	Predeal (Romania)
http://linked.open...i/riv/nazevZdroje	Proceedings of the 3rd International Conference Optimization of the Robots and Manipulators OPTIROB 2008
http://linked.open...in/vavai/riv/obor	BB
http://linked.open...ichTvurcuVysledku	1 (xsd:int)
http://linked.open...cetTvurcuVysledku	1 (xsd:int)
http://linked.open...UplatneniVysledku	2008
http://linked.open...iv/tvurceVysledku	Šeda, Miloš
http://linked.open...vavai/riv/typAkce	WRD - Světová
http://linked.open.../riv/zahajeniAkce	2008-05-30 (xsd:date)
http://linked.open...n/vavai/riv/zamer	Inteligentní systémy v automatizaci
number of pages	6 (xsd:int)
http://purl.org/ne...btex#hasPublisher	Bren Publishing House
https://schema.org/isbn	978-973-648-784-2
http://localhost/t...ganizacniJednotka	26210

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