• DocumentCode
    1332955
  • Title

    Efficient environment representation for mobile robot path planning using CVT-PRM with Halton sampling

  • Author

    Park, Bong-Ryeol ; Chung, Wing Kwong

  • Author_Institution
    Dept. of Mech. Eng., POSTECH, Pohang, South Korea
  • Volume
    48
  • Issue
    22
  • fYear
    2012
  • Firstpage
    1397
  • Lastpage
    1399
  • Abstract
    A centroidal Voronoi tessellation-based probabilistic roadmap (CVT-PRM) and its construction method for mobile robot path planning are introduced. The CVT-PRM efficiently encoded the entire unoccupied region of the environment by autonomously rearranging the positions of nodes via CVT and Halton sampling. Simulation results verified that the CVT-PRM can encode the entire unoccupied region efficiently, using evenly distributed nodes.
  • Keywords
    computational geometry; mobile robots; path planning; CVT-PRM; Halton sampling; centroidal Voronoi tessellation based probabilistic roadmap; distributed nodes; efficient environment representation; mobile robot path planning;
  • fLanguage
    English
  • Journal_Title
    Electronics Letters
  • Publisher
    iet
  • ISSN
    0013-5194
  • Type

    jour

  • DOI
    10.1049/el.2012.2894
  • Filename
    6352968
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=1332955