Deterministic RG-Trees via Voronoi Diagrams Voronoi Diyagramları ile Deterministik RG-Trees
32nd IEEE Conference on Signal Processing and Communications Applications, SIU 2024, Mersin, Turkey, 15 - 18 May 2024, (Full Text)
- Publication Type: Conference Paper / Full Text
- Doi Number: 10.1109/siu61531.2024.10601053
- City: Mersin
- Country: Turkey
- Keywords: motion planning, reference governor, Voronoi diagram
- Middle East Technical University Affiliated: Yes
Abstract
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.