Author/Editor		Mahkovic, Rajko
Title		Načrtovanje gladkih poti mobilnih robotov z B-zlepki
Type		monografija
Place		Ljubljana
Publisher		Fakulteta za računalništvo in informatiko
Publication year		1999
Volume		str. 106
Language		slo
Abstract		We consider the problem of smooth path planning for circular-base mobile robots. The robot equipped by a sort of scanning device like laser range scanner, operates in the unfamiliar environment populated by the obstacles of general boundary type. We assume the robot knows its position in global reference coordinate system. The problem is tackled in two steps: in the first step we incrementally acquire the map of the unknown environment, whereas in the second, previously acquired map is emplyed for smooth path planning. The key structure used in map acquisition problem is Generalized Local Voronoi Diagram, GLVD. This is the Voronoi diagram of the visible region, constructed out of the scan set, supplied by the scanning device after performing a full-circle scan. GLVD is a subgraph of the ordinary Voronoi diagram, obtained from the ordinary diagram by removing all the edges, whose both side generator points belong to the same cluster. Clustering of the scan points is introduced to identify the unpassable edges which are to be removed from the ordinary diagram. Typically, cluster consists of scan points reflected from the same obstacle. Two types of clusterization function are presented, which both use a kind of threshold distance as clustering criterion. GLVD contains the edges formed by the scan points from different clusters only. (Abstract truncated at 2000 characters).
Descriptors		ROBOTICS PATTERN RECOGNITION