Paper Title:
Research on Constructing an Approximate Topological Graph and its Path Planning
  Abstract

This paper proposes a new method to construct an approximate Topological Graph based on the traditional constructing voronoi diagram by discrete grids, which combines the PRM (Probabilistic Roadmap Method) path planning thought. By means of the approximate topological graph and the hierarchical thought, the efficiency of path planning is improved. Meanwhile, this method can reduce the unnecessary collision detection and can be effectively used in the path planning of mechanical produce. In the end, this method is analyzed and evaluated, and meanwhile some improvements and simulations about this method are given.

  Info
Periodical
Edited by
Ran Chen
Pages
596-604
DOI
10.4028/www.scientific.net/AMM.44-47.596
Citation
K. Jia, J. Hong, Y. L. Li, Z. B. Li, "Research on Constructing an Approximate Topological Graph and its Path Planning", Applied Mechanics and Materials, Vols. 44-47, pp. 596-604, 2011
Online since
December 2010
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