Dynamic Waypoint Navigation Using Voronoi Classifier Methods

Abstract

This paper details the development of a dynamic waypoint navigation method which introduces and utilizes Voronoi classifiers as the control mechanism for an autonomous mobile robot. A Voronoi diagram may be generated by any finite set of points in a plane. For mobile robot control each point in the plane represents a Voronoi classifier. The classifiers are used to generate Voronoi regions. As a robot comes into a Voronoi region the classifier will act as a control input; providing a new waypoint for the vehicle to follow. The robot moves towards the new waypoint unless interrupted by an obstacle or wall. The robot will get a new waypoint from the classifier in the robot's current Voronoi region. This process continues until the robot has terminated at a desired position (goal) or runs out of power.

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Document Details

Document Type
Technical Report
Publication Date
Dec 01, 2004
Accession Number
ADA432915

Entities

People

  • A. Tucker
  • G. Fiorani
  • Gregory R. Hudas
  • J. Overholt
  • M. Skalny

Organizations

  • Tank-automotive and Armaments Command

Tags

Communities of Interest

  • Air Platforms
  • Autonomy
  • Materials and Manufacturing Processes

DTIC Thesaurus Topics

  • Abstracts
  • Algorithms
  • Autonomous Navigation
  • Computations
  • Computers
  • Environment
  • Genetic Algorithms
  • Machine Learning
  • Motion Planning
  • Navigation
  • Navigational Equipment
  • Operating Systems
  • Robot Navigation
  • Robotics
  • Robots
  • Simulations
  • Three Dimensional

Fields of Study

  • Computer science

Readers

  • Atmospheric Science/Meteorology
  • Graph Algorithms and Convex Optimization.
  • Robotics and Automation.

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • Autonomy