A Improved Method of Robot’s Path Planning Based Visibilty Graph
Weijie Liu · Computer Knowledge and Technology · 2009
Firstly,the Minkowski sum is used to convert the problem of polygonal robot's path planning to point robot's path planning, Secondly,An improved method of the visibility graph to ensure the safety of robots is presented. This approach builds the arcs far away from the barriers.The possible path nodes at the graph are first determined , and the possible paths are also considered tobuild the arcs among nodes. The shortest path is then obtained by the Dijkstra algorithm. Simulation results show that the path derived by this approach can reach or approximate the optimal path.