A genetic algorithm approach using voronoi diagram for path planning

In the context of Mobile Robotics, the e cient resolution of the Path Planning problem is a key task. The model of the environment and the search algorithm are basic issues in the resolution of the problem. This paper highlights the main features of Path Planning proposal for mobile robots in static...

Descripción completa

Guardado en:
Detalles Bibliográficos
Autores principales: Benavides, Facundo, Tejera, Gonzalo, Pedemonte, Martín, Casella, Serrana
Formato: Objeto de conferencia
Lenguaje:Español
Publicado: 2011
Materias:
Ciencias Informáticas
Autonomous Mobile Robots
Path Planning
Voronoi diagrams
Genetic Algorithms
Acceso en línea:http://sedici.unlp.edu.ar/handle/10915/125239
Aporte de:
SEDICI (UNLP) de Universidad Nacional de La Plata
id I19-R120-10915-125239
record_format dspace
institution Universidad Nacional de La Plata
institution_str I-19
repository_str R-120
collection SEDICI (UNLP)
language Español
topic Ciencias Informáticas
Autonomous Mobile Robots
Path Planning
Voronoi diagrams
Genetic Algorithms
spellingShingle Ciencias Informáticas
Autonomous Mobile Robots
Path Planning
Voronoi diagrams
Genetic Algorithms
Benavides, Facundo
Tejera, Gonzalo
Pedemonte, Martín
Casella, Serrana
A genetic algorithm approach using voronoi diagram for path planning
topic_facet Ciencias Informáticas
Autonomous Mobile Robots
Path Planning
Voronoi diagrams
Genetic Algorithms
description In the context of Mobile Robotics, the e cient resolution of the Path Planning problem is a key task. The model of the environment and the search algorithm are basic issues in the resolution of the problem. This paper highlights the main features of Path Planning proposal for mobile robots in static environments. In our proposal, the path planning is based on Voronoi diagrams, where obstacles in the environment are considered as the generating points of the diagram, and a genetic algorithm is used to nd a path without collisions from the robot initial to target position. This work combines some ideas presented by Roque and Doering, who use Voronoi diagrams for modelling the environment, and other ideas presented by Zhang et al. who adopt a genetic algorithm for computing paths on a regular grid based environment, considering certain quality attributes.
format Objeto de conferencia
Objeto de conferencia
author Benavides, Facundo
Tejera, Gonzalo
Pedemonte, Martín
Casella, Serrana
author_facet Benavides, Facundo
Tejera, Gonzalo
Pedemonte, Martín
Casella, Serrana
author_sort Benavides, Facundo
title A genetic algorithm approach using voronoi diagram for path planning
title_short A genetic algorithm approach using voronoi diagram for path planning
title_full A genetic algorithm approach using voronoi diagram for path planning
title_fullStr A genetic algorithm approach using voronoi diagram for path planning
title_full_unstemmed A genetic algorithm approach using voronoi diagram for path planning
title_sort genetic algorithm approach using voronoi diagram for path planning
publishDate 2011
url http://sedici.unlp.edu.ar/handle/10915/125239
work_keys_str_mv AT benavidesfacundo ageneticalgorithmapproachusingvoronoidiagramforpathplanning
AT tejeragonzalo ageneticalgorithmapproachusingvoronoidiagramforpathplanning
AT pedemontemartin ageneticalgorithmapproachusingvoronoidiagramforpathplanning
AT casellaserrana ageneticalgorithmapproachusingvoronoidiagramforpathplanning
AT benavidesfacundo geneticalgorithmapproachusingvoronoidiagramforpathplanning
AT tejeragonzalo geneticalgorithmapproachusingvoronoidiagramforpathplanning
AT pedemontemartin geneticalgorithmapproachusingvoronoidiagramforpathplanning
AT casellaserrana geneticalgorithmapproachusingvoronoidiagramforpathplanning
bdutipo_str Repositorios
_version_ 1764820451426566147

Ejemplares similares