A Generalized Voronoi Diagram-Based Efficient Heuristic Path Planning Method for RRTs in Mobile Robots.
Wenzheng ChiZhiyu DingJiankun WangGuodong ChenLining SunPublished in: IEEE Trans. Ind. Electron. (2022)
Keyphrases
- path planning
- mobile robot
- potential field
- optimal path
- path planner
- voronoi diagram
- path planning algorithm
- dynamic programming
- computationally efficient
- segmentation method
- objective function
- obstacle avoidance
- motion planning
- multiple robots
- collision free
- multi robot
- autonomous robots
- collision avoidance
- unmanned aerial vehicles
- energy function
- dynamic environments
- indoor environments
- dynamic and uncertain environments
- training samples
- optimal solution