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<p>The path complexity generated by the Voronoi diagram in the existing algorithms is usually high, which leads to low efficiency in mobile robot navigation. This work proposes a Voronoi diagram optimization method based on the ray model. By re-connecting the key nodes in the map skeleton using the ray model principle, a more complete and concise Voronoi diagram is generated, and navigation paths that better conform to the principle of mobile robot motion are found. The path optimization effect of the algorithm is verified by simulation and real experiments, reducing the speed loss of the robot motion and improving navigation efficiency. This optimization method helps to reduce time cost and energy consumption, enabling mobile robots to integrate more efficiently and economically into people’s daily life.</p>

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Optimized Voronoi diagram path planning based on a ray model

  • 期刊论文

  • 发表日期：

    2025年1月4日

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  • Yuxin Hu,
  • Lin Jiang,
  • Ken Chen,
  • Jun Li

摘要

The path complexity generated by the Voronoi diagram in the existing algorithms is usually high, which leads to low efficiency in mobile robot navigation. This work proposes a Voronoi diagram optimization method based on the ray model. By re-connecting the key nodes in the map skeleton using the ray model principle, a more complete and concise Voronoi diagram is generated, and navigation paths that better conform to the principle of mobile robot motion are found. The path optimization effect of the algorithm is verified by simulation and real experiments, reducing the speed loss of the robot motion and improving navigation efficiency. This optimization method helps to reduce time cost and energy consumption, enabling mobile robots to integrate more efficiently and economically into people’s daily life.