Roadmap-Based Path Planning - Using the Voronoi Diagram for a Clearance-Based Shortest Path

Bhattacharya P.; Gavrilova M.L.

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Roadmap-Based Path Planning - Using the Voronoi Diagram for a Clearance-Based Shortest Path

机译：基于路线图的路径规划-将Voronoi图用于基于间隙的最短路径

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Path planning still remains one of the core problems in modern robotic applications, such as the design of autonomous vehicles and perceptive systems. The basic path-planning problem is concerned with finding a good-quality path from a source point to a destination point that does not result in collision with any obstacles. In this article, we chose the roadmap approach and utilized the Voronoi diagram to obtain a path that is a close approximation of the shortest path satisfying the required clearance value set by the user. The advantage of the proposed technique versus alternative path-planning methods is in its simplicity, versatility, and efficiency.

机译：路径规划仍然是现代机器人应用中的核心问题之一，例如自动驾驶汽车和感知系统的设计。基本的路径规划问题涉及找到从源点到目标点的高质量路径，而不会导致与任何障碍物的碰撞。在本文中，我们选择了路线图方法，并利用Voronoi图获得了一条路径，该路径是满足用户设置的所需间隙值的最短路径的近似值。与其他路径规划方法相比，所提出的技术的优势在于其简单性，多功能性和效率。

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来源
《IEEE Robotics & Automation Magazine》 |2008年第2期|p.58-66|共9页
作者
Bhattacharya P.; Gavrilova M.L.;
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收录信息美国《科学引文索引》(SCI);美国《工程索引》(EI);
原文格式 PDF
正文语种 eng
中图分类机器人技术;
关键词
computational geometry; path planning; robots; Voronoi diagram; path planning; roadmap approach;

机译：计算几何;路径规划;机器人;Voronoi图;路径规划;路线图方法;

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1. Voronoi-Visibility Roadmap-based Path Planning Algorithm for Unmanned Surface Vehicles [J] . Niu Hanlin, Al Savvaris, Tsourdos Antonios, The Journal of Navigation . 2019,第4期

机译：基于Voronoi-Visibility路线图的无人水面车辆路径规划算法
2. Hexagon-Based Generalized Voronoi Diagrams Generation for Path Planning of Intelligent Agents [J] . Fen Tang, Xiong You, Xin Zhang, Mathematical Problems in Engineering: Theory, Methods and Applications . 2020,第1期

机译：基于六角形的智能代理路径规划的广义Voronoi图代
3. Path Planning of Anti-ship Missile based on Voronoi Diagram and Binary Tree Algorithm [J] . Shi Yan, Zhang Lihua, Dong Shouquan Defence Science Journal . 2019,第4期

机译：基于Voronoi图和二叉树算法的反舰导弹路径规划
4. Robust Shortest Path Planning for Aircraft using Bounded Region Voronoi Diagram [C] . Tanishk Dudi, Rahul Singhal, Rajesh Kumar, IEEE International Conference on Power Electronics, Drives and Energy Systems . 2020

机译：使用有界区域Voronoi图的飞机的强大最短路径规划
5. PLANNING SHORTEST PATHS (COMPUTATIONAL GEOMETRY, MOTION PLANNING, VISIBILITY GRAPHS, DIJKSTRA'S ALGORITHM, VORONOI DIAGRAMS). [D] . MITCHELL, JOSEPH S. B. 1986

机译：规划最短路径（计算几何，运动规划，可见性图，迪克斯特拉算法，沃罗尼图）。
6. Path Optimization along Buoys Based on the Shortest Path Tree with Uncertain Atmospheric and Oceanographic Data [O] . Han Xue, Tian Chai 2021

机译：基于浮标的路径优化基于不确定的大气和海洋数据的最短路径树
7. Voronoi-Visibility Roadmap-based Path Planning Algorithm for Unmanned Surface Vehicles [O] . Hanlin Niu, Al Savvaris, Antonios Tsourdos, 2019

机译：基于Voronoi的可见性路径规划算法，无人面车辆

Roadmap-Based Path Planning - Using the Voronoi Diagram for a Clearance-Based Shortest Path

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