Mobile robot path planning using Voronoi diagram and fast marching

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dc.contributor.author Garrido Bullón, Luis Santiago
dc.contributor.author Moreno Lorente, Luis Enrique
dc.date.accessioned 2022-04-05T09:57:09Z
dc.date.available 2022-04-05T09:57:09Z
dc.date.issued 2015-09
dc.identifier.bibliographicCitation Luo, Zongwei (ed.), Robotics, automation, and control in industrial and service settings. Hershey, PA: IGI Global, 2015. Pp.: 92-108.
dc.identifier.isbn 1466686936
dc.identifier.isbn 9781466686939
dc.identifier.issn 2326-6139 (print)
dc.identifier.issn 2326-6155 (online)
dc.identifier.uri http://hdl.handle.net/10016/34525
dc.description.abstract For navigation in complicated environments, a robot must reach a compromise between efficient trajectories and ability to react to unexpected environmental events. This paper presents a new sensorbased path planner, which gives a fast local or global motion plan capable to incorporate new obstacles data. Within the first step, the safest areas in the environment are extracted by means of a Voronoi Diagram. Within the second step, the fast marching method is applied to the Voronoi extracted areas so as to get the trail. This strategy combines map-based and sensor-based designing operations to supply a reliable motion plan, whereas it operates at the frequency of the sensor. The most interesting characteristics are high speed and reliability, as the map dimensions are reduced to a virtually one-dimensional map and this map represents the safest areas within the environment. Additionally, the Voronoi Diagram is calculated in open areas with all reasonably shaped obstacles. This fact permits to use the planned trajectory methodology in complex environments wherever different Voronoi-based strategies will not work.
dc.format.extent 17
dc.language.iso eng
dc.publisher IGI Global
dc.relation.ispartofseries Advances in civil and industrial engineering (ACIE)
dc.rights @ 2015 by IGI Global
dc.subject.other Path planning
dc.subject.other Robot motion
dc.subject.other Voronoi diagram
dc.subject.other Fast marching
dc.title Mobile robot path planning using Voronoi diagram and fast marching
dc.type bookPart
dc.description.status Publicado
dc.subject.eciencia Robótica e Informática Industrial
dc.identifier.doi https://doi.org/10.4018/978-1-4666-8693-9.ch003
dc.rights.accessRights openAccess
dc.type.version acceptedVersion
dc.identifier.publicationfirstpage 92
dc.identifier.publicationlastpage 108
dc.identifier.publicationtitle Robotics, automation, and control in industrial and service settings
dc.identifier.uxxi CO/0000007898
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