Planning Trajectories in the Plane with Obstacles Using Voronoi Diagrams

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F00216305%3A26210%2F03%3APU40441" target="_blank" >RIV/00216305:26210/03:PU40441 - isvavai.cz</a>
Result on the web
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DOI - Digital Object Identifier
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Result language
angličtina
Original language name
Planning Trajectories in the Plane with Obstacles Using Voronoi Diagrams
Original language description
The task of planning trajectories plays an important role in transportation, robotics, even in information systems (sending messages). 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 sccene, 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, can be solved by heuristic techniques (genetic algorithms, simulated annealing, tabu-search). We present a framework of such approach and show its drawbacks (combinatorial
Czech name
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Czech description
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Publication year
2003
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

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