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Statements

Subject Item
n2:RIV%2F00216305%3A26210%2F08%3APU77905%21RIV10-MSM-26210___
rdf:type
skos:Concept n14:Vysledek
dcterms: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.
dcterms:title
Planning Smooth Trajectories in the Plane with Obstacles. Planning Smooth Trajectories in the Plane with Obstacles.
skos:prefLabel
Planning Smooth Trajectories in the Plane with Obstacles. Planning Smooth Trajectories in the Plane with Obstacles.
skos:notation
RIV/00216305:26210/08:PU77905!RIV10-MSM-26210___
n3:aktivita
n9:Z
n3:aktivity
Z(MSM0021630529)
n3:cisloPeriodika
II
n3:dodaniDat
n13:2010
n3:domaciTvurceVysledku
n4:1920863 n4:2687119
n3:druhVysledku
n15:J
n3:duvernostUdaju
n12:S
n3:entitaPredkladatele
n18:predkladatel
n3:idSjednocenehoVysledku
386740
n3:idVysledku
RIV/00216305:26210/08:PU77905
n3:jazykVysledku
n17:eng
n3:klicovaSlova
motion planning, roadmap method, generalised Voronoi diagram
n3:klicoveSlovo
n6:motion%20planning n6:generalised%20Voronoi%20diagram n6:roadmap%20method
n3:kodStatuVydavatele
CZ - Česká republika
n3:kontrolniKodProRIV
[93A37E2DE65C]
n3:nazevZdroje
Cybernetic Letters
n3:obor
n10:JC
n3:pocetDomacichTvurcuVysledku
2
n3:pocetTvurcuVysledku
2
n3:rokUplatneniVysledku
n13:2008
n3:svazekPeriodika
6
n3:tvurceVysledku
Pich, Václav Šeda, Miloš
n3:zamer
n11:MSM0021630529
s:issn
1802-3525
s:numberOfPages
5
n16:organizacniJednotka
26210