A voronoi diagram-visibility graph-potential field compound algorithm for robot path planning

  title={A voronoi diagram-visibility graph-potential field compound algorithm for robot path planning},
  author={E. Masehian and Mohammad Reza Amin-Naseri},
  journal={J. Field Robotics},
Numerous methods have been developed to solve the motion planning problem, among which the Voronoi diagram, visibility graph, and potential fields are well-known techniques. In this paper, a new path planning algorithm is presented where these three methods are integrated for the first time in a single architecture. After constructing the generalized Voronoi diagram of C-space, we introduce a novel procedure for its abstraction, producing a pruned generalized Voronoi diagram. A broad freeway… 
  • Computer Science
  • 2013
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  • Computer Science
    2020 59th Annual Conference of the Society of Instrument and Control Engineers of Japan (SICE)
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  • Computer Science
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  • 2007
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  • Computer Science
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  • 2005
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  • 1985
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  • S. LaValle, J. Kuffner
  • Mathematics
    Proceedings 1999 IEEE International Conference on Robotics and Automation (Cat. No.99CH36288C)
  • 1999
A state-space perspective on the kinodynamic planning problem is presented, and a randomized path planning technique that computes collision-free kinodynamic trajectories for high degree-of-freedom problems is introduced.