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ICRA
2006
IEEE

Voronoi Diagram and Fast Marching applied to Path Planning

10 years 7 months ago
Voronoi Diagram and Fast Marching applied to Path Planning
— This paper presents a new Path Planning method 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 speed and reliability, because the map dimensions is reduced to a unidimensional map and this map represents the safest areas in the environment for moving the robot.
Santiago Garrido, Luis Moreno, Dolores Blanco
Added 11 Jun 2010
Updated 11 Jun 2010
Type Conference
Year 2006
Where ICRA
Authors Santiago Garrido, Luis Moreno, Dolores Blanco
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