Constraint-Based Motion Planning Using Voronoi Diagrams.
Maxim GarberMing C. LinPublished in: WAFR (2002)
Keyphrases
- motion planning
- voronoi diagram
- degrees of freedom
- path planning
- mobile robot
- trajectory planning
- optimal path
- humanoid robot
- medial axis
- robotic arm
- computational geometry
- multi robot
- robotic tasks
- distance function
- mechanical systems
- quadtree
- obstacle avoidance
- configuration space
- collision free
- dynamic environments
- robotic systems
- convex hull
- multi modal
- d objects