Deterministic RG-Trees via Voronoi Diagrams

Obstacle avoidance motion planning is a basic problem in mobile robotics. In cases like in a factory, the environment map is known, and the planner's main task is to find a feedback control law that steers the robot to the goal location without collision. This study presents a novel deterministic method that quickly finds a suitable path by covering the obstacle-free space from start to goal with overlapping polygonal regions guided by Voronoi diagrams. Using a reference governor ensures that the robot stays in these regions and safely moves to the goal. A simulation study confirms the computational gains of our method.