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Trajectory planning for lab robots based on global vision and Voronoi roadmaps

Published online by Cambridge University Press:  14 June 2005

Waldir L. Roque  and
Dionísio Doering
Waldir L. Roque
Affiliation:
Instituto de Matemática, Universidade Federal do Rio Grande do Sul, 91509-900 Porto Alegre, RS (Brazil)
Dionísio Doering
Affiliation:
Instituto de Matemática, Universidade Federal do Rio Grande do Sul, 91509-900 Porto Alegre, RS (Brazil)
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Abstract

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This paper discusses the techniques and their applications in the development of a path planning system composed of three modules, namely: global vision (GVM), trajectory planning (TPM) and navigation control (NCM). The GVM captures and processes the workspace image to identify the obstacle and the robot configurations. These configurations are used by the TPM to generate the Voronoi roadmap, to compute the maximal clearance shortest feasible path and the visibility pathway between two configurations. The NCM controls the robot functionalities and navigation. To validate the path planning system, three sets of experiments have been conducted using the Lab robot Khepera, which have shown very good results.

Keywords

Mobile robotsRobot navigationPath planningVoronoi roadmapGlobal vision
Type
Research Article
Information
Robotica , Volume 23 , Issue 4 , July 2005 , pp. 467 - 477
Copyright
© 2005 Cambridge University Press