The Journal of Korea Robotics Society (로봇학회논문지)

Korea Robotics Society (한국로봇학회)
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An Efficient Robot Path Generation Using Delaunay Mesh

딜레노이 메시를 이용한 효율적인 로봇 경로 생성방법

  • 노성우 (조선대학교 제어계측공학과) ;
  • 고낙용 (조선대학교 제어계측로봇공학과) ;
  • 김광진 (조선대학교 정보통신공학과)
  • Received : 2010.01.28
  • Accepted : 2010.02.01
  • Published : 2010.02.26
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Abstract

This paper proposes a path planning method of a mobile robot in two-dimensional work space. The path planning method is based on a cell decomposition approach. To create a path which consists of a number of line segments, the Delaunay Triangulation algorithm is used. Using the cells produced by the Delaunay Triangulation algorithm, a mesh generation algorithm connects the starting position to the goal position. Dijkstra algorithm is used to find the shortest distance path. Greedy algorithm optimizes the path by deleting the path segments which detours without collision with obstacles.

Keywords

References

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