Publication detail

Rectilinear Voronoi Diagram-Based Motion Planning in the Plane with Obstacles

ŠEDA, M.

English title

Rectilinear Voronoi Diagram-Based Motion Planning in the Plane with Obstacles

Type

Peer-reviewed article not indexed in WoS or Scopus

Language

en

Original abstract

A Voronoi diagram of a set of sites in the Euclidean plane is a collection of regions that divide up the plane. Each region corresponds to one of the sites and all the points in one region are closer to the site representing the region than to the other site. Voronoi diagrams have a surprising variety of uses, e.g. nearest neighbour search, facility location, path planning, etc. In this paper, we investigate the problem of 8-directional robot motion planning where the goal is to find a collision-free path from the starting to the target position in the 2D space containing point and rectangular obstacles. In contrast to the traditional approaches frequently based on genetic algorithms, we propose a method for solving this problem using rectilinear Voronoi diagrams.

Released

2004-09-01

ISSN

0033-2089

Volume

2004

Number

8-9

Pages from–to

24–

Pages count

3

BIBTEX


@article{BUT46231,
  author="Miloš {Šeda}",
  title="Rectilinear Voronoi Diagram-Based Motion Planning in the Plane with Obstacles",
  journal="Elektronika",
  year="2004",
  volume="2004",
  number="8-9",
  pages="3",
  issn="0033-2089"
}