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Título: | Real Path Planning based on Genetic Algorithm and Voronoi Diagrams |
Autor: | Benavides Olivera, Facundo Tejera, Gonzalo Pedemonte, Martín Casella, Serrana |
Tipo: | Artículo |
Palabras clave: | Autonomous Mobile Robots, Path Planning, Voronoi diagrams, Genetic Algorithms |
Fecha de publicación: | 2011 |
Resumen: | In the context of Mobile Robotics, the efficient
resolution of the Path Planning problem is a key task. The
model of the environment and the search algorithm are basic
issues in the resolution of the problem. This paper highlights
the main features of Path Planning proposal for mobile robots
in static environments. In our proposal, the path planning is
based on Voronoi diagrams, where obstacles in the environment
are considered as the generating points of the diagram, and a
genetic algorithm is used to find a path without collisions from
the robot initial to target position. This work combines some ideas
presented by Roque and Doering, who use Voronoi diagrams for
modelling the environment, and other ideas presented by Zhang
et al. who adopt a genetic algorithm for computing paths on
a regular grid based environment, considering certain quality
attributes. The main results were probed both in simulated and
real environments. |
Descripción: | Preprint. Trabajo presentado a: IX Latin American Robotics Symposium y a la IEEE Colombian Conference on Automatic Control, Bogota, Colombia (1-4 Oct. 2011) |
Citación: | Benavides Olivera, F, Tejera, G, Pedemonte, M y otros. "Real Path Planning based on Genetic Algorithm and Voronoi Diagrams" [en línea] Preprint. Publicado en: IX Latin American Robotics Symposium y IEEE Colombian Conference on Automatic Control, 2011 IEEE. doi: 10.1109/LARC.2011.6086816 |
Aparece en las colecciones: | Publicaciones académicas y científicas - Facultad de Ingeniería |
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Real Path Planning based on Genetic Algorithm and Voronoi Diagrams(1).pdf | 539,99 kB | Adobe PDF | Visualizar/Abrir |
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