{"title":"A Geometric Method for the Path Generation of a Robot","authors":"Linan Jiao, Zhaoyun Sun, A. Sha","doi":"10.1109/MVHI.2010.160","DOIUrl":null,"url":null,"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.","PeriodicalId":34860,"journal":{"name":"HumanMachine Communication Journal","volume":null,"pages":null},"PeriodicalIF":0.0000,"publicationDate":"2010-04-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"HumanMachine Communication Journal","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/MVHI.2010.160","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q1","JCRName":"Social Sciences","Score":null,"Total":0}
引用次数: 0
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.
在机器人运动规划中，广义Voronoi图(GVD)是一种重要的路径生成几何方法。计算GVD的方法可分为直接法和近似法。本文结合VDC (Van Der Corput)采样序列和一种近似方法，设计了一种基于VDC采样序列的GVD算法。该算法改进了常用的近似GVD算法，采样过程是增量的，精度是可控的，从而提高了当前GVD算法的性能。
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