Exact Cell Decomposition
原理
- 将 free space 分解成不重叠的区域集合(cells)。
- 构造并搜索表示单元间邻接关系的连通图。
- 搜索成功,得到由Cell组成的序列(channel)。
区域分解应具有以下两个特征:
- 每个单元尽可能相似,使计算单元中的任何两个configurations的路径简单。
- 任意两个单元间的邻接性容易测试。容易找到两个共享边界单元的路径。
1 Polygonal Configuration Space
env :
c
=
R
2
c = R_2
c=R2, C-obstacle region CB forms a polygonal region in C.
free space
C
f
r
e
e
C_{free}
Cfree is bounded.
**DEFINITION 1: A convex polygonal decomposition K,**of
C
f
r
e
e
C_{free}
Cfree is
a finite collection of convex polygons, called cells, such that the interiors of any two cells do not intersect and the union of all the cells is equal to
c
l
(
C
f
r
e
e
)
cl(C_{free})
cl(Cfree). Two cells K and K’ in K are adjacent if only if K n K’ is a line segment of non-zero length.
DEFINITION 2: The connectivity graph G associated with a convex polygonal decomposition k k k of C f r e e C_{free} Cfree is the non-directed graph specified as follows:
- G’s nodes are the cells in K K K.
- Two nodes in G are connected by a link if and only if the corresponding cells are adjacent.
The exact cell decomposition algorithm for planning a free path
connecting the two configurations is the following:
- Generate a convex polygonal decomposition k k k of C f r e e C_{free} Cfree.
- Construct the connectivity graph G associated with k k k.
- Search G for a sequence of adjacent cells between
q
i
n
i
t
q_{init}
qinit and
q g o a l q_{goal} qgoal· - If the search terminates successfully, return the generated sequence of cells; otherwise, return failure.