CS365 Project By: Harsha Vardhan Reddy 10271 Pratap Bhanu Solanki - - PowerPoint PPT Presentation

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CS365 Project By: Harsha Vardhan Reddy 10271 Pratap Bhanu Solanki - - PowerPoint PPT Presentation

Voronoi Diagram Based Roadmap Motion Planning CS365 Project By: Harsha Vardhan Reddy 10271 Pratap Bhanu Solanki Y9429 {gujjula, prabhanu}@ iitk.ac.in Mentor : Amitabha Mukerjee amit@ cse.iitk.ac.in Introduction Goal is to compute


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Voronoi Diagram Based Roadmap Motion Planning

By:

Harsha Vardhan Reddy 10271 Pratap Bhanu Solanki Y9429 {gujjula, prabhanu}@ iitk.ac.in

Mentor :

Amitabha Mukerjee amit@ cse.iitk.ac.in

CS365 Project

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Introduction

  • Goal is to compute shortest Collision

Free path

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Task Division

 Drawing Voronoi Diagram  Retraction Distance

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W hat is Voronoi Diagram?

 A Voronoi diagram of a set of sites in the

plane is a collection of regions that divide up the plane.

 Each region corresponds to one of the

sites.

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Drawing Voronoi Diagram:

 Point O bstacles  Line obstacle can be viewed as set of point obstacles.

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Drawing Voronoi Diagram…

 Polygonal O bstacles

  • Can be viewed as set of line obstacles
  • Each line obstacle can be viewed as set of

point obstacles separated by distance of ε

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Drawing Voronoi Diagram…

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Drawing Voronoi Diagram…

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 Consider Voronoi edges that are generated

by vertices of different obstacles.

Drawing Voronoi Diagram…

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Retraction

 Start and End are not necessary to lie on

Voronoi Diagram

 From Start to Voronoi Diagram Start’

  • Identify the cell of Start
  • Path to nearest edge – Perpendicular from

Start to the edge

 From End’ to End

  • Similar to Start

 Finding shortest path from Start’ to End’

using Graph search

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Retraction…

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Retraction…

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T H ANK YOU!

QUESTIONS ? ?

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 Line O bstacles

  • Draw voronoi diagram for point obstacles and

consider those edges

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Voronoi Edges for different configurations