Robot Path-Planning Based on Triangulation Tracing

A robot path-planning method based on triangulation tracing is proposed to deal with high complication and low security in traditional path-planning method based on Voronoi diagram. An optimum path of the robot is produced by tracing the value-points of triangulation,which is combined with Dijkatra algorithm. This method doesn´t need to restructure the triangulation along with the motion of obstacles, and to optimize the path by selecting feature values depend on the obstaclepsilas size. Simulation shows that this method can effectively reduce the calculation complexity and enhance the safety of the chosen path.