A Method of Constructing Complete Graph for Multi-objects Path Planning in Complex Environment
Considering path planning for multi-objects in complex environment, the construction of complete graph which refiects the relative distance between objects in real world has great infiuence on calculating the sequence of objects and the optimal path throughout the optimization and path planning algorithm. This paper describes an approach that integrates the representations of uniform grids and Voronoi diagrams to build the complete graph in complex environment for multi-objects. It firstly generates an initial Voronoi diagram with respect to the obstacle regions in the cost-changing and complex environment on top of grid-based maps. We then uses the techniques from path planning to make modifications by partitioning the obstacles into coherent regions and updating the Voronoi diagram considering the relationship between objects and obstacles. Finally the complete graph is built from the modified Voronoi diagram. Throughout the simulation, such a method of building the complete graph could make the outcome of path planning better compared with the complete graph from Euclidean distance.
Gao Bo Yan Weisheng Zhang Fubin Wang Yintao
College of Marine,Northwestern Polytechnical University,Xian,ShanXi,CHN
国际会议
2009 IEEE International Conference on Information and Automation(2009年 IEEE信息与自动化国际学术会议)
珠海、澳门
英文
403-407
2009-06-22（万方平台首次上网日期，不代表论文的发表时间）