Zeslabení metod silniční mapy v plánování pohybu robota

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F00216305%3A26210%2F06%3APU62368" target="_blank" >RIV/00216305:26210/06:PU62368 - isvavai.cz</a>

Výsledek na webu

—

DOI - Digital Object Identifier

—

Jazyk výsledku

angličtina

Název v původním jazyce

Relaxation of Roadmap Methods of Robot Motion Planning

Popis výsledku v původním jazyce

In robot motion planning a 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 roadmapmethods (visibility graph method, Voronoi diagram) and methods based on cell decomposition. In this work, an approach based on Voronoi diagrams is proposed, considering point, straight line and polygonal obstacles in a completely known scene. Approximating polygonal obstacles by sets of points makes it possible to apply roadmap methods to more complex problems.

Název v anglickém jazyce

Relaxation of Roadmap Methods of Robot Motion Planning

Popis výsledku anglicky

In robot motion planning a 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 roadmapmethods (visibility graph method, Voronoi diagram) and methods based on cell decomposition. In this work, an approach based on Voronoi diagrams is proposed, considering point, straight line and polygonal obstacles in a completely known scene. Approximating polygonal obstacles by sets of points makes it possible to apply roadmap methods to more complex problems.

Druh

J_x - Nezařazeno - Článek v odborném periodiku (Jimp, Jsc a Jost)

CEP obor

BC - Teorie a systémy řízení

OECD FORD obor

—

Projekt

—

Návaznosti

Z - Vyzkumny zamer (s odkazem do CEZ)

Rok uplatnění

2006

Kód důvěrnosti údajů

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

Název periodika

WSEAS Transactions on Systems

ISSN

1109-2777

e-ISSN

—

Svazek periodika

5

Číslo periodika v rámci svazku

8

Stát vydavatele periodika

US - Spojené státy americké

Počet stran výsledku

6

Strana od-do

1808-1813

Kód UT WoS článku

—

EID výsledku v databázi Scopus

—