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A voronoi-based reactive approach for mobile robot navigation

Mohammadi, S ; Sharif University of Technology | 2008

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  1. Type of Document: Article
  2. DOI: 10.1007/978-3-540-89985-3_129
  3. Publisher: 2008
  4. Abstract:
  5. Robot navigation is a challenging problem in robotics, which involves determining of robot positioning relative to objects in the environment, and also the mobility of robot through obstacles without colliding into them. The former is known as localization, while the latter is called motion planning. This paper introduces a roadmap method for solving motion planning problem in a dynamic environment based on Generalized Voronoi Diagram (GVD). The efficiency of the proceeding work is verified by examining it in a sample home environment. © 2008 Springer-Verlag
  6. Keywords:
  7. Dynamic environments ; Generalized voronoi diagram ; Home environment ; Mobile robot navigation ; Motion planning problems ; Roadmap ; Robot navigation ; Robot positioning ; Voronoi ; Computer science ; Motion planning ; Navigation ; Navigation systems ; Robots
  8. Source: 13th International Computer Society of Iran Computer Conference on Advances in Computer Science and Engineering, CSICC 2008, Kish Island, 9 March 2008 through 11 March 2008 ; Volume 6 CCIS , 2008 , Pages 901-904 ; 18650929 (ISSN); 3540899847 (ISBN); 9783540899846 (ISBN)
  9. URL: https://link.springer.com/chapter/10.1007%2F978-3-540-89985-3_129