A Review on Deformable Voronoi Diagrams for Robot Path Planning in Dynamic Environments

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dc.authorscopusid57195997424
dc.authorscopusid57202966631
dc.authorscopusid57201916047
dc.authorscopusid57223961736
dc.authorscopusid59239972200
dc.authorscopusid7801402135
dc.authorscopusid36871460900
dc.contributor.authorSamuel, Moveh
dc.contributor.authorYahya, Khalid
dc.contributor.authorAldababsa, Mahmoud
dc.contributor.authorAmer, Ayman
dc.contributor.authorDofan, Jamal Ali Ramada
dc.contributor.authorMerchan-Cruz, Emmanuel Alejandro
dc.contributor.authorHafez, Mohamed
dc.date.accessioned2024-09-11T19:58:58Z
dc.date.available2024-09-11T19:58:58Z
dc.date.issued2023
dc.departmentİstanbul Gelişim Üniversitesien_US
dc.description2nd International Engineering Conference on Electrical, Energy, and Artificial Intelligence, EICEEAI 2023 -- 27 December 2023 through 28 December 2023 -- Zarqa -- 201143en_US
dc.description.abstractRoute planning for mobile robots presents a complex challenge, mainly when designing pathways in dynamic environments. This complexity arises from the robot's need to balance the demand for efficient and optimal routes while also handling unexpected obstacles. This paper introduces an algorithm that combines two key concepts: the Voronoi Diagram, utilized for environment representation, and Deformation Retracts, integrated into the system to enable the path planner to adapt to moving obstacles by deforming the Voronoi Diagram. The combination of the previously described notions, Voronoi Diagrams, and Deformation Retracts from related areas (Computational geometry and Algebraic topology) has not yet been studied in robotics applications. The idea is supposed first to compute a Generalised Voronoi Diagram (GVD) and construct a pre-planned robot route, after which the Deformation retract might be applied to the open space of the Voronoi Diagram formed after an interference due to a moving object. The map will be distorted, and the starting route will be modified to a different path if one exists. This approach has a promising future since the dimension of the map has been reduced to one that depicts the retracting free space in the surroundings. As a result, the new method is relevant to robot navigation in complicated settings, as well as other disciplines such as game theory, virtual reality, and computational geometry, to name a few. © 2023 IEEE.en_US
dc.identifier.doi10.1109/EICEEAI60672.2023.10590452
dc.identifier.isbn979-835037336-3en_US
dc.identifier.scopus2-s2.0-85199996826en_US
dc.identifier.scopusqualityN/Aen_US
dc.identifier.urihttps://doi.org/10.1109/EICEEAI60672.2023.10590452
dc.identifier.urihttps://hdl.handle.net/11363/8602
dc.indekslendigikaynakScopusen_US
dc.language.isoenen_US
dc.publisherInstitute of Electrical and Electronics Engineers Inc.en_US
dc.relation.ispartof2nd International Engineering Conference on Electrical, Energy, and Artificial Intelligence, EICEEAI 2023en_US
dc.relation.publicationcategoryKonferans Öğesi - Uluslararası - Kurum Öğretim Elemanıen_US
dc.rightsinfo:eu-repo/semantics/closedAccessen_US
dc.snmz20240903_Gen_US
dc.subjectDeformable; Dynamic; Environment; Path; Robot; Voronoi Diagramsen_US
dc.titleA Review on Deformable Voronoi Diagrams for Robot Path Planning in Dynamic Environmentsen_US
dc.typeConference Objecten_US

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