TY - GEN
T1 - Research on constructing an approximate topological graph and its path planning
AU - Jia, Kang
AU - Hong, Jun
AU - Li, Yunlong
AU - Li, Zongbin
PY - 2011
Y1 - 2011
N2 - This paper proposes a new method to construct an approximate Topological Graph based on the traditional constructing voronoi diagram by discrete grids, which combines the PRM (Probabilistic Roadmap Method) path planning thought. By means of the approximate topological graph and the hierarchical thought, the efficiency of path planning is improved. Meanwhile, this method can reduce the unnecessary collision detection and can be effectively used in the path planning of mechanical produce. In the end, this method is analyzed and evaluated, and meanwhile some improvements and simulations about this method are given.
AB - This paper proposes a new method to construct an approximate Topological Graph based on the traditional constructing voronoi diagram by discrete grids, which combines the PRM (Probabilistic Roadmap Method) path planning thought. By means of the approximate topological graph and the hierarchical thought, the efficiency of path planning is improved. Meanwhile, this method can reduce the unnecessary collision detection and can be effectively used in the path planning of mechanical produce. In the end, this method is analyzed and evaluated, and meanwhile some improvements and simulations about this method are given.
KW - Approximate topological graph
KW - Assembly path planning
KW - Hierarchical path planning
UR - https://www.scopus.com/pages/publications/78651321738
U2 - 10.4028/www.scientific.net/AMM.44-47.596
DO - 10.4028/www.scientific.net/AMM.44-47.596
M3 - 会议稿件
AN - SCOPUS:78651321738
SN - 9783037850046
T3 - Applied Mechanics and Materials
SP - 596
EP - 604
BT - Frontiers of Manufacturing and Design Science
T2 - 2010 International Conference on Frontiers of Manufacturing and Design Science, ICFMD2010
Y2 - 11 December 2010 through 12 December 2010
ER -