Title :
A Geometric Method for the Path Generation of a Robot
Author :
Jiao, Linan ; Sun, Zhaoyun ; Sha, Aimin
Author_Institution :
Coll. of Inf. Eng., Chang´´an Univ., Xi´´an, China
Abstract :
In robot motion planning, Generalized Voronoi Diagram (GVD) is a kind of important geometric method for path generation. The method of figuring out GVD can be categorized into direct and approximated methods. The paper combines VDC (Van Der Corput) sampling sequence and an approximated method to design a GVD algorithm based on VDC sampling sequence. The algorithm improves common approximated GVD algorithm, sampling process is incremental and precision is controllable, thus current GVD algorithm performance is enhanced.
Keywords :
Algorithm design and analysis; Application software; Area measurement; Educational institutions; Extraterrestrial measurements; Image processing; Machine vision; Motion planning; Robot motion; Sampling methods; GVD; Sampling Sequence; VDC; Voronoi Diagram;
Conference_Titel :
Machine Vision and Human-Machine Interface (MVHI), 2010 International Conference on
Conference_Location :
Kaifeng, China
Print_ISBN :
978-1-4244-6595-8
Electronic_ISBN :
978-1-4244-6596-5
DOI :
10.1109/MVHI.2010.160
