Path-Planning Approaches
- Roadmap
Represent
the connectivity of the free space by a network of 1-D curves
- Cell decomposition
Decompose
the free space into simple cells and represent the
connectivity of the free space by the adjacency graph of these cells
- Potential field
Define
a function over the free space that has a global minimum at the goal
configuration and follow its steepest descent
Cell-Decomposition Methods
Cell-Decomposition Methods
Two
classes of methods:
§Exact cell decomposition
The free space F is represented by a collection of non-overlapping cells whose union is exactly F
Example: trapezoidal decomposition ( phân hủy hình thang)
The free space F is represented by a collection of non-overlapping cells whose union is exactly F
Example: trapezoidal decomposition ( phân hủy hình thang)
