Deterministic RG-Trees via Voronoi Diagrams Voronoi Diyagramları ile Deterministik RG-Trees
32nd IEEE Conference on Signal Processing and Communications Applications, SIU 2024, Mersin, Türkiye, 15 - 18 Mayıs 2024, (Tam Metin Bildiri)
- Yayın Türü: Bildiri / Tam Metin Bildiri
- Doi Numarası: 10.1109/siu61531.2024.10601053
- Basıldığı Şehir: Mersin
- Basıldığı Ülke: Türkiye
- Anahtar Kelimeler: motion planning, reference governor, Voronoi diagram
- Orta Doğu Teknik Üniversitesi Adresli: Evet
Özet
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.