Detail publikace

Real-Time Robot Motion Planning Based on the Generalised Voronoi Diagram

ŠVEC, P.

Anglický název

Real-Time Robot Motion Planning Based on the Generalised Voronoi Diagram

Typ

Kapitola, resp. kapitoly v odborné knize

Jazyk

en

Originální abstrakt

Real-time motion planning of an autonomous robot in an unknown or partially known indoor or outdoor environment is a difficult task, especially when the generated path must preserve the safest distance from surrounding obstacles and the robot's kinodynamics properties, its localisation, and uncertainty of the environment are also considered. A novel approximation geometric algorithm for computing the generalised Voronoi diagram based on the Fortune plane sweep technique is proposed, which presents a trade-off between the efficiency of computation, implementation difficulty, and robustness. This algorithm is further utilised in a new real-time motion planning technique.

Klíčová slova anglicky

robot motion planning, Voronoi diagram, plane sweep algorithm, real-time

Vydáno

2007-12-31

Nakladatel

Brno University of Technology, Faculty of Mechanical Engineering

Místo

Brno

ISBN

978-80-214-3559-9

Kniha

Simulation Modelling of Mechatronic Systems III

Strany od–do

121–131

Počet stran

11

BIBTEX


@inbook{BUT55433,
  author="Petr {Švec}",
  title="Real-Time Robot Motion Planning Based on the Generalised Voronoi Diagram",
  booktitle="Simulation Modelling of Mechatronic Systems III",
  year="2007",
  publisher="Brno University of Technology, Faculty of Mechanical Engineering",
  address="Brno",
  series="Mechatronika",
  edition="3",
  pages="121--131",
  isbn="978-80-214-3559-9"
}