Publication detail

Planning Smooth Trajectories in the Plane with Obstacles.

ŠEDA, M. PICH, V.

English title

Planning Smooth Trajectories in the Plane with Obstacles.

Type

Peer-reviewed article not indexed in WoS or Scopus

Language

en

Original abstract

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.

Keywords in English

motion planning, roadmap method, generalised Voronoi diagram

Released

2008-12-01

Publisher

Univerzita obrany

Location

Brno

ISSN

1802-3525

Volume

6

Number

II

Pages from–to

1–5

Pages count

5

BIBTEX


@article{BUT48180,
  author="Miloš {Šeda} and Václav {Pich}",
  title="Planning Smooth Trajectories in the Plane with Obstacles.",
  journal="Cybernetic Letters",
  year="2008",
  volume="6",
  number="II",
  pages="1--5",
  issn="1802-3525"
}