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

Date

2024-01-01

Author

Gölbol, Ferhat
Schmidt, Klaus Verner

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This work is licensed under a Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

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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.

Subject Keywords

motion planning, reference governor, Voronoi diagram

URI

https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85200829694&origin=inward
https://hdl.handle.net/11511/110723

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Department of Electrical and Electronics Engineering, Conference / Seminar