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Start Over Creator Švec, Petr

2. Kinodynamic robot motion planning based on the generalised Voronoi diagram

Creator:
Švec, Petr
Format:
bez média and svazek
Type:
model:article and TEXT
Subject:
kinodynamic motion planning, generalised Voronoi diagram, Fortune's plane sweep algorithm, and real-time motion planning
Language:
English
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
Rights:
http://creativecommons.org/licenses/by-nc-sa/4.0/ and policy:public