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Description
  • In robot motion planning in a space with obstacles, the goal is to find a collision-free path of robot from the starting to the target position. There are many approaches depending on types of obstacles, dimensionality of the space and restrictions for robot movements. Among the most frequently used are roadmap methods (visibility graphs, Voronoi diagrams, rapidly exploring random trees) and methods based on cell decomposition. A common feature of all these methods is the generating of trajectories composed from line segments. In this paper, we will show that generalised Voronoi diagrams can be used for fast generation of smooth paths sufficiently distant from obstacles.
  • In robot motion planning in a space with obstacles, the goal is to find a collision-free path of robot from the starting to the target position. There are many approaches depending on types of obstacles, dimensionality of the space and restrictions for robot movements. Among the most frequently used are roadmap methods (visibility graphs, Voronoi diagrams, rapidly exploring random trees) and methods based on cell decomposition. A common feature of all these methods is the generating of trajectories composed from line segments. In this paper, we will show that generalised Voronoi diagrams can be used for fast generation of smooth paths sufficiently distant from obstacles. (en)
Title
  • Planning Smooth Trajectories in the Plane with Obstacles.
  • Planning Smooth Trajectories in the Plane with Obstacles. (en)
skos:prefLabel
  • Planning Smooth Trajectories in the Plane with Obstacles.
  • Planning Smooth Trajectories in the Plane with Obstacles. (en)
skos:notation
  • RIV/00216305:26210/08:PU77905!RIV10-MSM-26210___
http://linked.open...avai/riv/aktivita
http://linked.open...avai/riv/aktivity
  • Z(MSM0021630529)
http://linked.open...iv/cisloPeriodika
  • II
http://linked.open...vai/riv/dodaniDat
http://linked.open...aciTvurceVysledku
http://linked.open.../riv/druhVysledku
http://linked.open...iv/duvernostUdaju
http://linked.open...titaPredkladatele
http://linked.open...dnocenehoVysledku
  • 386740
http://linked.open...ai/riv/idVysledku
  • RIV/00216305:26210/08:PU77905
http://linked.open...riv/jazykVysledku
http://linked.open.../riv/klicovaSlova
  • motion planning, roadmap method, generalised Voronoi diagram (en)
http://linked.open.../riv/klicoveSlovo
http://linked.open...odStatuVydavatele
  • CZ - Česká republika
http://linked.open...ontrolniKodProRIV
  • [93A37E2DE65C]
http://linked.open...i/riv/nazevZdroje
  • Cybernetic Letters
http://linked.open...in/vavai/riv/obor
http://linked.open...ichTvurcuVysledku
http://linked.open...cetTvurcuVysledku
http://linked.open...UplatneniVysledku
http://linked.open...v/svazekPeriodika
  • 6
http://linked.open...iv/tvurceVysledku
  • Šeda, Miloš
  • Pich, Václav
http://linked.open...n/vavai/riv/zamer
issn
  • 1802-3525
number of pages
http://localhost/t...ganizacniJednotka
  • 26210
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