Details
| Original language | English |
|---|---|
| Title of host publication | Intelligent Autonomous Systems 13 |
| Editors | Hiroaki Yamaguchi, Nathan Michael, Karsten Berns, Emanuele Menegatti |
| Place of Publication | Cham |
| Pages | 445-458 |
| Number of pages | 14 |
| ISBN (electronic) | 978-3-319-08338-4 |
| Publication status | Published - 2016 |
Publication series
| Name | Advances in Intelligent Systems and Computing |
|---|---|
| Volume | 302 |
| ISSN (Print) | 2194-5357 |
Abstract
This paper proposes the use of a Voronoi-based heuristic to significantly speed up search-based nonholonomic path planning. Using generalized Voronoi diagrams (GVD) and in this manner exploiting geometric information about the obstacles, the presented approach is able to considerably reduce computation time while satisfying differential constraints using motion primitives for exploration. A key advantage compared to the common use of Euclidean heuristics is the inherent ability to avoid local minima of the cost function, which can be caused by, e.g., concave obstacles. Therefore, the application of the Voronoi-based heuristic is particularly beneficial in densely cluttered environments.
Keywords
- GVD, Heuristic, Nonholonomic planning, Primitive motion A, Search-based planning, Voronoi
ASJC Scopus subject areas
- Engineering(all)
- Control and Systems Engineering
- Computer Science(all)
- General Computer Science
Cite this
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- BibTeX
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Intelligent Autonomous Systems 13. ed. / Hiroaki Yamaguchi; Nathan Michael; Karsten Berns; Emanuele Menegatti. Cham, 2016. p. 445-458 (Advances in Intelligent Systems and Computing; Vol. 302).
Research output: Chapter in book/report/conference proceeding › Conference contribution › Research › peer review
}
TY - GEN
T1 - Voronoi-Based Heuristic for Nonholonomic Search-Based Path Planning
AU - Wang, Qi
AU - Wulfmeier, Markus
AU - Wagner, Bernardo
PY - 2016
Y1 - 2016
N2 - This paper proposes the use of a Voronoi-based heuristic to significantly speed up search-based nonholonomic path planning. Using generalized Voronoi diagrams (GVD) and in this manner exploiting geometric information about the obstacles, the presented approach is able to considerably reduce computation time while satisfying differential constraints using motion primitives for exploration. A key advantage compared to the common use of Euclidean heuristics is the inherent ability to avoid local minima of the cost function, which can be caused by, e.g., concave obstacles. Therefore, the application of the Voronoi-based heuristic is particularly beneficial in densely cluttered environments.
AB - This paper proposes the use of a Voronoi-based heuristic to significantly speed up search-based nonholonomic path planning. Using generalized Voronoi diagrams (GVD) and in this manner exploiting geometric information about the obstacles, the presented approach is able to considerably reduce computation time while satisfying differential constraints using motion primitives for exploration. A key advantage compared to the common use of Euclidean heuristics is the inherent ability to avoid local minima of the cost function, which can be caused by, e.g., concave obstacles. Therefore, the application of the Voronoi-based heuristic is particularly beneficial in densely cluttered environments.
KW - GVD
KW - Heuristic
KW - Nonholonomic planning
KW - Primitive motion A
KW - Search-based planning
KW - Voronoi
UR - http://www.scopus.com/inward/record.url?scp=84945945404&partnerID=8YFLogxK
U2 - 10.1007/978-3-319-08338-4_33
DO - 10.1007/978-3-319-08338-4_33
M3 - Conference contribution
SN - 9783319083377
T3 - Advances in Intelligent Systems and Computing
SP - 445
EP - 458
BT - Intelligent Autonomous Systems 13
A2 - Yamaguchi, Hiroaki
A2 - Michael, Nathan
A2 - Berns, Karsten
A2 - Menegatti, Emanuele
CY - Cham
ER -