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Simplified Voronoi diagrams for motion planning of quadratically-solvable Gough-Stewart platforms
Vaca Alzate, Rubén Hernando; Aranda López, Juan; Thomas, Federico
Universitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial; Universitat Politècnica de Catalunya. GRINS - Robòtica Intel·ligent i Sistemes; Universitat Politècnica de Catalunya. ROBiri - Grup de Robòtica de l'IRI
The obstacles in Configuration Space of quadratically-solvable Gough-Stewart platforms, due to both kinematic singularities and collisions, can be uniformly represented by a Boolean combination of signs of 4×4 determinants involving the homogeneous coordinates of sets of four points. This Boolean combination induces a measure of distance to obstacles in Configuration Space from which a simplified Voronoi diagram can be derived. Contrary to what happens with standard Voronoi diagrams, this diagram is no longer a strong deformation retract of free space but, as Canny proved in 1987, it is still complete for motion planning. Its main advantage is that it has lower algebraic complexity than standard Voronoi diagrams based on the Euclidean metric.
Àrees temàtiques de la UPC::Informàtica::Robòtica
Voronoi polygons
Automation
Gough-Stewart platform
Pure condition
Voronoi diagrams
Path planning
Voronoi, Polígons de
info:eu-repo/semantics/submittedVersion
info:eu-repo/semantics/conferenceObject
Springer
         

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