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IROS
2006
IEEE

Path Planning for Mobile Robot Navigation using Voronoi Diagram and Fast Marching

9 years 5 months ago
Path Planning for Mobile Robot Navigation using Voronoi Diagram and Fast Marching
— This paper presents a new sensor based global Path Planner which operates in two steps. In the first step the safest areas in the environment are extracted by means of a Voronoi diagram. In the second step Fast Marching Method is applied to the Voronoi extracted areas in order to obtain the shortest path. In this way the trajectory obtained is the shortest between the safe possible ones. This two step method combines an extremely fast global planner operating on a simple sensor based environment modeling, while it operates at the sensor frequency. The main characteristics are speed and reliability, because the map dimensions are reduced to a unidimensional map and this map represents the safest areas in the environment for moving the robot.
Santiago Garrido, Luis Moreno, Mohamed Abderrahim,
Added 12 Jun 2010
Updated 12 Jun 2010
Type Conference
Year 2006
Where IROS
Authors Santiago Garrido, Luis Moreno, Mohamed Abderrahim, Fernando Martin
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