Publication detail

Motion Planning in the Plane with Polygonal Obstacles

ŠEDA, M.

English title

Motion Planning in the Plane with Polygonal Obstacles

Type

Peer-reviewed article not indexed in WoS or Scopus

Language

en

Original abstract

In robot motion planning the 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 the paper, an approach based on Voronoi diagrams is proposed, considering point, straight line and polygonal obstacles in a completely known scene.

Released

2005-09-01

ISSN

1210-2717

Volume

12

Number

4

Pages from–to

253–

Pages count

6

BIBTEX


@article{BUT42791,
  author="Miloš {Šeda}",
  title="Motion Planning in the Plane with Polygonal Obstacles",
  journal="Inženýrská mechanika - Engineering Mechanics",
  year="2005",
  volume="12",
  number="4",
  pages="6",
  issn="1210-2717"
}