Class #2: Path Planning for Point Robot
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These drawings illustrate the visibility graph, Voronoi diagram, exact cell decomposition and potential field methods

  • Topics:
    - Roadmap methods: visibility graph, Voronoi diagram
    - Exact and approximate cell decomposition methods
    - Potential fields
  • Required Readings:
    • J.C. Latombe. Robot Motion Planning. Kluwer Academic Publishers, 1991. (Chap. 1) [Hardcopy will be given in class]  

  • Other Readings:
    • J.C. Latombe. Robot Motion Planning. Kluwer Academic Publishers, 1991. (Chap. 4-7) [Hardcopy available on demand]

  • Powerpoint slides