Deterministic RG-Trees via Voronoi Diagrams Voronoi Diyagramları ile Deterministik RG-Trees

2024-01-01
Obstacle avoidance motion planning is a basic problem in mobile robotics. In cases like in a factory, the environment map is known, and the planner's main task is to find a feedback control law that steers the robot to the goal location without collision. This study presents a novel deterministic method that quickly finds a suitable path by covering the obstacle-free space from start to goal with overlapping polygonal regions guided by Voronoi diagrams. Using a reference governor ensures that the robot stays in these regions and safely moves to the goal. A simulation study confirms the computational gains of our method.
32nd IEEE Conference on Signal Processing and Communications Applications, SIU 2024
Citation Formats
F. Gölbol and K. V. Schmidt, “Deterministic RG-Trees via Voronoi Diagrams Voronoi Diyagramları ile Deterministik RG-Trees,” presented at the 32nd IEEE Conference on Signal Processing and Communications Applications, SIU 2024, Mersin, Türkiye, 2024, Accessed: 00, 2024. [Online]. Available: https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85200829694&origin=inward.