%0 Journal Article
%T A novel method for robot path planning
%A CAI Qiang
%A LI Hai-sheng
%A YANG Qin
%A LI Ji-gang
%A <br>CAI Qiang
%A LI Haisheng
%A YANG Qin
%A LI Jigang
%J 重庆邮电大学学报(自然科学版)
%D 2009
%I 
%X Path planning is one of the most important problems in the design of a mobile robot. A novel approach called generalized Voronoi diagrams (GVD) may deal with this matter. First, a method was introduced to normalize the obstacles and present efficient techniques for generating GVDs. Then a best path searching algorithm was presented. Examples implemented were given to indicate the availability of the mentioned algorithms. The approaches in this paper can also be used in applications including visualization, spatial data manipulation, etc.
%K robot
%K path planning
%K generalized Voronoi diagram
%K PEBI grid<br>机器人路径规划
%K Voronoi图
%K 空间数据处理
%K 搜索算法
%K 移动机器人
%K 群速度色散
%K 最佳路径
%K 正常化
%U http://www.alljournals.cn/get_abstract_url.aspx?pcid=01BA20E8BA813E1908F3698710BBFEFEE816345F465FEBA5&cid=96E6E851B5104576C2DD9FC1FBCB69EF&jid=5C2694A2E5629ECD6B59D7B28C6937AD&aid=443FA6208097F0123D9AAD5FC7FBA305&yid=DE12191FBD62783C&vid=659D3B06EBF534A7&iid=0B39A22176CE99FB&sid=DABEF202280E7EF1&eid=6425DAE0271BB751&journal_id=1673-825X&journal_name=重庆邮电大学学报(自然科学版)&referenced_num=0&reference_num=11