A Geometric Method for the Path Generation of a Robot
Linan Jiao, Zhaoyun Sun, Aimin Sha · 2010
In robot motion planning, Generalized Voronoi Diagram (GVD) is a kind of important geometric method for path generation. The method of figuring out GVD can be categorized into direct and approximated methods. The paper combines VDC (Van Der Corput) sampling sequence and an approximated method to design a GVD algorithm based on VDC sampling sequence. The algorithm improves common approximated GVD algorithm, sampling process is incremental and precision is controllable, thus current GVD algorithm performance is enhanced.