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Vodec: A fast Voronoi algorithm for car-like robot path planning in dynamic scenarios

Published online by Cambridge University Press:  23 January 2012

Diego A. López García  and
Fernando Gomez-Bravo
Diego A. López García
Affiliation:
Department of Electronic Engineering and Automation, University of Huelva, La Rábida, Huelva, Spain
Fernando Gomez-Bravo*
Affiliation:
Department of Electronic Engineering and Automation, University of Huelva, La Rábida, Huelva, Spain
*
*Corresponding author. E-mail: fernando.gomez@diesia.uhu.es
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Summary

Traditionally, robot motion planners use Voronoi Diagrams for generating admissible paths that connect an initial with a final configuration. When dynamic scenarios are involved, these techniques imply a heavy computational cost. The novelty of the technique presented here is that it can provide fast and particularly suitable routes without considering the full scenario if environmental changes appear. The new method is designed to work with a post-process technique in order to provide admissible paths for car-like robots coping with kinematic constraints. This new approach is capable of supplying continuous paths and also elaborate maneuvers if cluttered environments are involved.

Keywords

Path planningVoronoi diagramsNonholonomic robotsRestricted maneuvers
Type
Articles
Information
Robotica , Volume 30 , Issue 7 , December 2012 , pp. 1189 - 1201
Copyright
Copyright © Cambridge University Press 2012

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