CVT-based 2D Motion Planning with Maximal Clearance
Maximal clearance is an important property that is highly desirable in multi-agent motion planning. However, it is also inherently difficult to attain. We propose a novel approach to achieve maximal clearance by exploiting the ability of evenly distributing a set of points by a centroidal Voronoi tessellation (CVT). We adapt the CVT framework to multiagent motion planning by adding an extra time dimension and optimize the trajectories of the agents in the augmented domain. As an optimization framework, our method can work naturally on complex regions. We demonstrate the effectiveness of our algorithm in achieving maximal clearance in motion planning with some examples.
Liping Zheng Yi-King Choi Xiaoping Liu Wenping Wang
School of Computer and Information Hefei University of Technology China Department of Computer Science The University of Hong Kong China
国际会议
2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)
上海
英文
2281-2287
2011-05-09（万方平台首次上网日期，不代表论文的发表时间）