Major Approaches to Robot Environmental Modeling
Shiyu Gong, Rihui Chen, Ziyang Xie, Xiang Li · 2021
This paper provides an overview of popular graph generation technologies based on robot path planning. With a focus on the principles and development of major environmental models, we studied the latest trends and improvement of existing technologies. Path planning algorithms are represented by the environmental modelling method and search-based method, with the former serving as the preparation for path planning. Environmental models include visibility graph method, grid diagram, collision-free space and topology. The paper discussed Voronoi diagram, grid diagram and visibility graph, aiming to provide technical guidance for researchers who have made outstanding progress in this field in the past few decades.