Robotic Motion Planning: Cell Decompositions
[Pages:70]Robotic Motion Planning: Cell Decompositions
(with some discussion on coverage and pursuer/evader)
Robotics Institute 16-735
Howie Choset
RI 16-735 Howie Choset
Exact Cell vs. Approximate Cell
? Cell: simple region
RI 16-735 Howie Choset
Adjacency Graph
? Node correspond to a cell ? Edge connects nodes of adjacent cells
? Two cells are adjacent if they share a common boundary
c14
c4 c2
c5
c8
c7
c11
c15
c1
c
c3
10
c13
c6 c9
c12
c1
c2
c4
c5
c3
c6
c7
c8 c10
c9
RI 16-735 Howie Choset
c14 c15
c11
c13 c12
Path Planning
? Path Planning in two steps:
? Planner determines cells that contain the start and goal
? Planner searches for a path within adjacency graph
RI 16-735 Howie Choset
Types of Decompositions
? Trapezoidal Decomposition ? Morse Cell Decomposition
? Boustrophedon decomposition ? Morse decomposition definition ? Sensor-based coverage ? Examples of Morse decomposition
? Visibility-based Decomposition
RI 16-735 Howie Choset
Trapezoidal Decomposition
RI 16-735 Howie Choset
Trapezoidal Decomposition
RI 16-735 Howie Choset
Trapezoidal Decomposition
RI 16-735 Howie Choset
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