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Statements

Subject Item
n2:RIV%2F00216305%3A26210%2F08%3APU76869%21RIV10-MSM-26210___
rdf:type
n10:Vysledek skos:Concept
dcterms: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.
dcterms:title
Robot Motion Planning in the Plane with Polygonal Obstacles Robot Motion Planning in the Plane with Polygonal Obstacles
skos:prefLabel
Robot Motion Planning in the Plane with Polygonal Obstacles Robot Motion Planning in the Plane with Polygonal Obstacles
skos:notation
RIV/00216305:26210/08:PU76869!RIV10-MSM-26210___
n4:aktivita
n18:Z
n4:aktivity
Z(MSM0021630529)
n4:dodaniDat
n5:2010
n4:domaciTvurceVysledku
n20:1920863
n4:druhVysledku
n15:D
n4:duvernostUdaju
n21:S
n4:entitaPredkladatele
n19:predkladatel
n4:idSjednocenehoVysledku
393033
n4:idVysledku
RIV/00216305:26210/08:PU76869
n4:jazykVysledku
n13:eng
n4:klicovaSlova
motion planning, cell decomposition, sampling methods, roadmap method
n4:klicoveSlovo
n11:roadmap%20method n11:cell%20decomposition n11:sampling%20methods n11:motion%20planning
n4:kontrolniKodProRIV
[BA6041E8C995]
n4:mistoKonaniAkce
Predeal (Romania)
n4:mistoVydani
Predeal (Romania)
n4:nazevZdroje
Proceedings of the 3rd International Conference Optimization of the Robots and Manipulators OPTIROB 2008
n4:obor
n7:BB
n4:pocetDomacichTvurcuVysledku
1
n4:pocetTvurcuVysledku
1
n4:rokUplatneniVysledku
n5:2008
n4:tvurceVysledku
Šeda, Miloš
n4:typAkce
n17:WRD
n4:zahajeniAkce
2008-05-30+02:00
n4:zamer
n8:MSM0021630529
s:numberOfPages
6
n16:hasPublisher
Bren Publishing House
n9:isbn
978-973-648-784-2
n3:organizacniJednotka
26210