Publisher： Edp Sciences
E-ISSN： 2271-2097|8|issue|01008-01008
ISSN： 2271-2097
Source： ITM Web of conferences, Vol.8, Iss.issue, 2016-11, pp. : 01008-01008
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Abstract
A clustering algorithm is proposed, to be used as a preliminary step in motion planning. It is tightly coupled to the applied problem statement, i.e. uses parameters meaningful only with respect to it. Use of geometrical properties for polygons clustering allows for a better calculation time as opposed to general-purpose algorithms. A special form of map optimized for quick motion planning is constructed as a result.
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