Real path planning based on genetic algorithm and Voronoi diagrams

Autor:	Gonzalo Tejera, Martín Pedemonte, Facundo Benavides, Serrana Casella
Přispěvatelé:	Benavides Olivera Facundo, Universidad de la República (Uruguay). Facultad de Ingeniería, Tejera Gonzalo, Universidad de la República (Uruguay). Facultad de Ingeniería, Pedemonte Martín, Universidad de la República (Uruguay). Facultad de Ingeniería, Casella Serrana, Universidad de la República (Uruguay). Facultad de Ingeniería
Jazyk:	angličtina
Rok vydání:	2011
Předmět:	Theoretical computer science Computer science Mobile robot Genetic algorithms Any-angle path planning Autonomous mobile robots Computer Science::Robotics ROBOTS MOVILES Search algorithm Voronoi diagrams Path (graph theory) Genetic algorithm Robot Motion planning Voronoi diagram Path planning
Zdroj:	COLIBRI Universidad de la República instacron:Universidad de la República LARC
Popis:	Postprint In the context of Mobile Robotics, the efficient resolution of the Path Planning problem is a key task. The model of the environment and the search algorithm are basic issues in the resolution of the problem. This paper highlights the main features of Path Planning proposal for mobile robots in static environments. In our proposal, the path planning is based on Voronoi diagrams, where obstacles in the environment are considered as the generating points of the diagram, and a genetic algorithm is used to find a path without collisions from the robot initial to target position. This work combines some ideas presented by Roque and Doering, who use Voronoi diagrams for modelling the environment, and other ideas presented by Zhang et al. who adopt a genetic algorithm for computing paths on a regular grid based environment, considering certain quality attributes. The main results were probed both in simulated and real environments.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_dedup___::45b39f0570e0317961f7f6748d7a6c5a Zobrazit plný text záznamu