Midterm Review.docx

# 3 voronoi graph is fragile voronoi diagram for a

• Notes
• 19

This preview shows pages 4–7. Sign up to view the full content.

3. Voronoi graph is fragile. Voronoi Diagram: For a given set of objects called sites, each Voronoi cell defines the set of points in the plane that are closer to each site than to any other site. The outlines of all Voronoi cells form the Voronoi Diagram. The Voronoi path will have the equal distance to obstacles. Potential Field Path Planning: 1. Provide a simple control function to move robot: gradient descent 2. Can be trapped in local minimum 3. Can be used as online, local method. Robot will be attracted to the goal but be repelled by obstacles. Use the gradient descent algorithm to find out the minimum value. However, it will not guarantee a path the goal, because the robot might be trapped in local minimum value. Geometry based path planning: Voronoi, Vgraph

This preview has intentionally blurred sections. Sign up to view the full version.

Sampling based path palnning: Probabilistic Roadmap Planner – PRM It is a multi-query planner. There is no guarantee that this algorithm will provide fully connected graph. Sol: use denser sampling Obstacle-Based PRM: free space do not need to many samples, collision area need denser samples. Use K-D tree to find out the K nearest neighbor. Local Planner: try to connect nearest neighbor Distance function: how to compare two points in C space is close or not. Rapidly-Exploring Random Trees
Single Query planner to get from config A to config B The nearest tree node q is the node that closest to to q_rand. The path will not be optimal, every time you run the method will give you different path. RRT optimization: Try to connect non-adjacent configurations. A* Search and Dijkstra Search A* search: Heuristic has to be less than the true cost of path from current node to goal.

This preview has intentionally blurred sections. Sign up to view the full version.

This is the end of the preview. Sign up to access the rest of the document.
• Fall '14
• Midterm, Nearest neighbor search, Voronoi diagram

{[ snackBarMessage ]}

### What students are saying

• As a current student on this bumpy collegiate pathway, I stumbled upon Course Hero, where I can find study resources for nearly all my courses, get online help from tutors 24/7, and even share my old projects, papers, and lecture notes with other students.

Kiran Temple University Fox School of Business ‘17, Course Hero Intern

• I cannot even describe how much Course Hero helped me this summer. It’s truly become something I can always rely on and help me. In the end, I was not only able to survive summer classes, but I was able to thrive thanks to Course Hero.

Dana University of Pennsylvania ‘17, Course Hero Intern

• The ability to access any university’s resources through Course Hero proved invaluable in my case. I was behind on Tulane coursework and actually used UCLA’s materials to help me move forward and get everything together on time.

Jill Tulane University ‘16, Course Hero Intern