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Efficient environment representation for mobile robot path planning using CVT-PRM with Halton sampling

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2 Author(s)
Park, B. ; Dept. of Mech. Eng., POSTECH, Pohang, South Korea ; Chung, W.K.

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.

Published in:

Electronics Letters  (Volume:48 ,  Issue: 22 )