GENERATING GENERALIZED VORONOI DIAGRAM WITH OBSTACLES FOR ROBOT PATH PLANNING
Navigation planning is one of the most important problems in the design of a mobile robot. The generalized Voronoi diagrams (GVD, also called PEBI grids in other application fields) can deal with this matter. We introduce a method to normalize the obstacles and present efficient techniques for generating GVDs. Then a shortest path searching for mobile robot is presented. Examples implemented on PCs using OpenGL graphic platform are given to indicate the availability of the mentioned algorithms. The approaches in this paper can also be used in applications including visualization, proximity queries, spatial data manipulation, etc.
robot path planning generalized Voronoi diagram PEBI grid
Cai Qiang Li Haisheng Yang Qin Li Jigang
Beijing Technology and Business University,100048,Beijing, Beihang University,100083,Beijing,
国际会议
2008年拟人系统国际会议(2008 International Conference on Humanized Systems )(ICHS’08)
北京
英文
2008-10-18（万方平台首次上网日期，不代表论文的发表时间）