Monday, June 16, 2014

Path-Planning Approaches

Path-Planning Approaches

  1. Roadmap


Represent the connectivity of the free space by a network of 1-D curves


  1. Cell decomposition
Decompose the free space into simple cells and represent the connectivity of the free space by the adjacency graph of these cells

  1. 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

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)