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 that can be classified as road map methods (visibility graph method, Voronai diagram) and methods based on a cell decomposition. In the paper, an approach based on Voronoi diagrams is proposed, considering point, straight line and polygonal obstacles in a completely known scene. and Obsahuje seznam literatury