Kinodynamic robot motion planning based on the generalised Voronoi diagram

Title:

Kinodynamic robot motion planning based on the generalised Voronoi diagram

Creator:

Švec, Petr

Identifier:

https://cdk.lib.cas.cz/client/handle/uuid:2adc1d4e-cf11-48c8-947d-858da019951c
uuid:2adc1d4e-cf11-48c8-947d-858da019951c

Subject:

kinodynamic motion planning, generalised Voronoi diagram, Fortune's plane sweep algorithm, and real-time motion planning

Type:

model:article and TEXT

Format:

bez média and svazek

Description:

Kinodynamic motion planning of an autonomous robot in an unknown or partially known indoor or outdor environment is a challenging task, especially when the generated path must maintain the largest distance from surrounding obstacles and the robot's kinodynamic properties, its localisation, and uncertainty of the environment are also considered. A new motion planning technique, which is built on the generalised Voronoi diagram, for a robot with kinematic or dynamic constraints is proposed. The generalised Voronoi diagram serves this task effectively as it maintains the largest (the safest) possible distance from surrounding obstacles. Moreover, a novel approximation geometric algorithm, which embodies a trade-off between the efficiency of computation, implementation difficulty, and robustness, for computing this diagram is presented. and Obsahuje seznam literatury

Language:

English

Rights:

http://creativecommons.org/licenses/by-nc-sa/4.0/
policy:public

Coverage:

139-150

Source:

Engineering mechanics: international journal for theoretical and applied mechanics | 2008 Volume:15 | Number:2

Harvested from:

CDK

Metadata only:

false