A method of constructing complete graph for multi-objects path planning in complex environment

Bo Gao, Weisheng Yan, Fubin Zhang, Yintao Wang

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

5 Scopus citations

Abstract

Considering path planning for multi-objects in complex environment, the construction of complete graph which reflects the relative distance between objects in real world has great influence on calculating the sequence of objects and the optimal path throughout the optimization and path planning algorithm. This paper describes an approach that integrates the representations of uniform grids and Voronoi diagrams to build the complete graph in complex environment for multi-objects. It firstly generates an initial Voronoi diagram with respect to the obstacle regions in the cost-changing and complex environment on top of grid-based maps. We then uses the techniques from path planning to make modifications by partitioning the obstacles into coherent regions and updating the Voronoi diagram considering the relationship between objects and obstacles. Finally the complete graph is built from the modified Voronoi diagram. Throughout the simulation, such a method of building the complete graph could make the outcome of path planning better compared with the complete graph from Euclidean distance.

Original languageEnglish
Title of host publication2009 IEEE International Conference on Information and Automation, ICIA 2009
Pages403-407
Number of pages5
DOIs
StatePublished - 2009
Event2009 IEEE International Conference on Information and Automation, ICIA 2009 - Zhuhai, Macau, China
Duration: 22 Jun 200925 Jun 2009

Publication series

Name2009 IEEE International Conference on Information and Automation, ICIA 2009

Conference

Conference2009 IEEE International Conference on Information and Automation, ICIA 2009
Country/TerritoryChina
CityZhuhai, Macau
Period22/06/0925/06/09

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