000004127 001__ 4127
000004127 005__ 20141118153334.0
000004127 04107 $$acze
000004127 046__ $$k2004-05-10
000004127 100__ $$aŠeda, M.
000004127 24500 $$aRobot navigation using Voronoi diagrams

000004127 24630 $$n10.$$pEngineering Mechanics 2004
000004127 260__ $$bInstitute of Thermomechanics AS CR, v.v.i., Prague
000004127 506__ $$arestricted
000004127 520__ $$2eng$$aThe task of planning trajectories plays an important role in transportation, robotics, etc. 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, e.g. visibility graph method or the shortest path map method. Assuming movements only in a restricted number of directions (eight directional, horizontal/vertical) the task, with respect to its combinatorial nature, must be solved by heuristic techniques. We propose an application of the Voronoi diagrams to the studied tasks and show that this approach needs only polynomial time and choosing Euclidean or rectilinear metric it can be adapted to tasks with general or directional-constrained movements.

000004127 540__ $$aText je chráněný podle autorského zákona č. 121/2000 Sb.
000004127 653__ $$a

000004127 7112_ $$aEngineering Mechanics 2004$$cSvratka (CZ)$$d2004-05-10 / 2004-05-13$$gEM2004
000004127 720__ $$aŠeda, M.
000004127 8560_ $$ffischerc@itam.cas.cz
000004127 8564_ $$s333354$$uhttp://invenio.itam.cas.cz/record/4127/files/T-Seda-Milos.pdf$$y
             Original version of the author's contribution as presented on CD, .
            
000004127 962__ $$r4009
000004127 980__ $$aPAPER