文档介绍：Computer Engineering and Applications 计算机工程与应用 2010，46（22） 1
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博士论坛
广义 Voronoi 图求解多机器人运动规划
冯洪奎 1，鲍劲松 1，2，金 烨 1，2
FENG Hong-kui1，BAO Jin-song1，2，JIN Ye1，2
计算机集成制造研究所，上海 200240
，上海 200240
of Computer Integrated Manufacturing，Shanghai Jiaotong University，Shanghai 200240，China
Key Laboratory of Advanced Manufacturing Environment，Shanghai 200240，China
E-mail：******@
FENG Hong-kui，BAO Jin-song，JIN Voronoi diagrams for multiple robots motion
Engineering and Applications，2010，46（22）：1-3.
Abstract： In a populated environment，boundaries of obstacles are complex，and Generalized Voronoi Diagrams（GVDs） are
employed to represent the spatial the motion planning for multiple robots，it must be considered for coordinat-
ing these robots according to passage width in the constructed an algorithm for computing the passage width in
the constructed GVDs according to the populated environment is * algorithm is employed for planning paths for
multiple robots in the constructed GVDs，and a distributed method is used for coordinating motions of multiple in-
stance for coordinating two robots is given