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An Efficient Robot Path Generation Using Delaunay Mesh  

Noh, Sung-Woo (조선대학교 제어계측공학과)
Ko, Nak-Yong (조선대학교 제어계측로봇공학과)
Kim, Kwang-Jin (조선대학교 정보통신공학과)
Publication Information
The Journal of Korea Robotics Society / v.5, no.1, 2010 , pp. 41-47 More about this Journal
Abstract
This paper proposes a path planning method of a mobile robot in two-dimensional work space. The path planning method is based on a cell decomposition approach. To create a path which consists of a number of line segments, the Delaunay Triangulation algorithm is used. Using the cells produced by the Delaunay Triangulation algorithm, a mesh generation algorithm connects the starting position to the goal position. Dijkstra algorithm is used to find the shortest distance path. Greedy algorithm optimizes the path by deleting the path segments which detours without collision with obstacles.
Keywords
Delaunay Triangulation(DT); Mesh Generator; Dijkstra Algorithm; Greedy Algorithm;
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