"1808-1813" . "497117" . . . "1109-2777" . . . "motion planning, cell decomposition, roadmap method, visibility graph, Voronoi diagram"@en . "V \u00FAloze pl\u00E1nov\u00E1n\u00ED pohybu robotu m\u00E1 robot proj\u00EDt z po\u010D\u00E1te\u010Dn\u00ED do koncov\u00E9 pozice ve sc\u00E9n\u011B s p\u0159ek\u00E1\u017Ekami tak, aby nedo\u0161lo ke kolizi s n\u011Bkterou z p\u0159ek\u00E1\u017Eek. Tato \u00FAloha m\u00E1 \u0159adu specifick\u00FDch formulac\u00ED, kter\u00E9 z\u00E1vis\u00ED na tvaru p\u0159ek\u00E1\u017Eek, povolen\u00E9mu zp\u016Fsobu pohybu, znalosti sc\u00E9ny atd. V\u00FDzkum t\u00E9to problematiky p\u0159inesl n\u011Bkolik odli\u0161n\u00FDch p\u0159\u00EDstup\u016F \u0159e\u0161en\u00ED, kter\u00E9 se ozna\u010Duj\u00ED jako metody silni\u010Dn\u00ED mapy (grafy viditelnosti, Voronoiovy diagramy) a metody zalo\u017Een\u00E9 na r\u016Fzn\u00FDch dekompozic\u00EDch sc\u00E9ny. V p\u0159\u00EDsp\u011Bvku je navr\u017Een p\u0159\u00EDstup zzalo\u017Een\u00FD na Voronoiov\u00FDch diagramech pro bodov\u00E9, \u010D\u00E1rov\u00E9 a mnoho\u00FAheln\u00EDkov\u00E9 p\u0159ek\u00E1\u017Eky v \u00FApln\u011B zn\u00E1m\u00E9 sc\u00E9n\u011B. Aproximace mnoho\u00FAheln\u00EDkov\u00FDch p\u0159ek\u00E1\u017Eek mno\u017Einami bod\u016F umo\u017E\u0148uje aplikovat metody silni\u010Dn\u00ED mapy na slo\u017Eit\u011Bj\u0161\u00ED probl\u00E9my."@cs . "Relaxation of Roadmap Methods of Robot Motion Planning" . . "6"^^ . "US - Spojen\u00E9 st\u00E1ty americk\u00E9" . "Relaxation of Roadmap Methods of Robot Motion Planning"@en . "Zeslaben\u00ED metod silni\u010Dn\u00ED mapy v pl\u00E1nov\u00E1n\u00ED pohybu robota"@cs . . "RIV/00216305:26210/06:PU62368!RIV06-MSM-26210___" . "In robot motion planning a 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 that can be classified as roadmap methods (visibility graph method, Voronoi diagram) and methods based on cell decomposition. In this work, an approach based on Voronoi diagrams is proposed, considering point, straight line and polygonal obstacles in a completely known scene. Approximat ing polygonal obstacles by sets of points makes it possible to apply roadmap methods to more complex problems." . . "RIV/00216305:26210/06:PU62368" . "In robot motion planning a 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 that can be classified as roadmap methods (visibility graph method, Voronoi diagram) and methods based on cell decomposition. In this work, an approach based on Voronoi diagrams is proposed, considering point, straight line and polygonal obstacles in a completely known scene. Approximat ing polygonal obstacles by sets of points makes it possible to apply roadmap methods to more complex problems."@en . "8" . . . "26210" . "Relaxation of Roadmap Methods of Robot Motion Planning" . "\u0160eda, Milo\u0161" . "1"^^ . "Z(MSM0021630518)" . "Relaxation of Roadmap Methods of Robot Motion Planning"@en . "5" . "[CBB91F710F6B]" . . . "WSEAS Transactions on Systems" . "Zeslaben\u00ED metod silni\u010Dn\u00ED mapy v pl\u00E1nov\u00E1n\u00ED pohybu robota"@cs . . . . . "1"^^ . . .