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.
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Šeda, M., Březina, T. (2010). Geometric Robot Motion Strategies. In: Brezina, T., Jablonski, R. (eds) Recent Advances in Mechatronics. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-05022-0_34
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DOI: https://doi.org/10.1007/978-3-642-05022-0_34
Publisher Name: Springer, Berlin, Heidelberg
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