Dynamic Path Planning with Regular Triangulations

Result code in IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F49777513%3A23520%2F14%3A43929112" target="_blank" >RIV/49777513:23520/14:43929112 - 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

Dynamic Path Planning with Regular Triangulations

Original language description

We propose a general model for real-time path planning in dynamic environment where the obstacles can nondeterministically appear, disappear, change the position, orientation or even shape. The model uses a triangulation for dynamic space subdivision among bounding spheres of the obstacles and a heuristic algorithm to repair an already found path after any change of the scene. The presented solution is the first one using regular triangulation. At the price of the suboptimal result, it provides an efficient and fast way to plan a path with the maximal clearance among the moving and changing obstacles. In comparison to raster based techniques and methods using the Delaunay triangulation (Voronoi diagram), it requires less time to preprocess and generates paths with a larger clearance.

Czech name

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Czech description

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Type

J_x - Unclassified - Peer-reviewed scientific article (Jimp, Jsc and Jost)

CEP classification

JD - Use of computers, robotics and its application

OECD FORD branch

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Project

<a href="/en/project/LH11006" target="_blank" >LH11006: Interactive Geometric Models for Simulation of Natural Phenomena and Crowds</a><br>

Continuities

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)<br>S - Specificky vyzkum na vysokych skolach

Publication year

2014

Confidentiality

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Name of the periodical

Machine Graphics &amp; Vision

ISSN

1230-0535

e-ISSN

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Volume of the periodical

24

Issue of the periodical within the volume

3/4

Country of publishing house

PL - POLAND

Number of pages

24

Pages from-to

119-142

UT code for WoS article

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EID of the result in the Scopus database

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