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
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;
Journal_Title :
Electronics Letters
DOI :
10.1049/el.2012.2894
