A Fast Path Planning Method for Mobile Robot Based on Voronoi Diagram and Improved D* Algorithm.
Liquan JiangShuting WangJie MengXiaolong ZhangGen LiYuanlong XiePublished in: AIM (2019)
Keyphrases
- path planning
- optimal path
- mobile robot
- voronoi diagram
- path planning algorithm
- potential field
- obstacle avoidance
- path planner
- dynamic programming
- multi robot
- dynamic environments
- collision avoidance
- computationally efficient
- collision free
- multiple robots
- objective function
- motion planning
- tree structure
- segmentation method
- similarity measure
- optimal solution
- distance map
- autonomous navigation
- segmentation algorithm
- indoor environments
- minimum cost path
- shortest path
- image matching
- energy function
- simultaneous localization and mapping
- autonomous vehicles
- navigation tasks
- distance measure
- convex hull