PROGRAM FOR DETERMINATION OF THE MOVEMENT TRAJECTORY OF A LOCOMOTOR ROBOT THROUGH THE VORONOI DIAGRAM
Max Suell Dutra, Pina Filho, Aloísio Carlos de Pina · 2003
The Voronoi diagram has as main application in robotics the determination of optimal trajectories for the movement of a robot in a determined environment. By means of a program developed using concepts of vectorial calculus and analytical geometry it becomes possible to analyze the distance between two points of the work space, considering the existing obstacles and verifying the best route to be followed by the robot. For particular environment, the program creates a database storing the information of the best route. The results found for the application of the program in determined layout had demonstrated the efficiency of the program. In relation to the difficulty to trace the Voronoi diagram, the most challenging issue is to determine its vertices and the limits of its edges, task that seems to become more difficult with the increase of the number and complexity of the obstacles. Based in the results, we come to the conclusion that the program based on the Voronoi diagram can be used as a tool to assist the control design of a locomotor, being this traditional control (for fixed obstacles) or adaptative control (for mobile obstacles).