Sensor-based navigation for car-like mobile robots based on a generalized voronoi graph

Keiji Nagatani, Yosuke Iwai, Yutaka Tanaka

Research output: Contribution to journalArticlepeer-review

17 Citations (Scopus)


Our research objective is to realize sensor-based navigation for car-like mobile robots. We adopt the generalized Voronoi graph (GVG) for the robot's local path and a map representation. It has the advantage to describe the mobile robot's path for sensor-based navigation from the point of view of completeness and safety. However, it is impossible to apply the path to car-like mobile robots directly, because the limitation of the minimum turning radius for a car-like robot may prevent it from following the GVG exactly. To solve this problem, we propose a local smooth path-planning algorithm for car-like mobile robots. Basically, an initial local path is generated by a conventional path-planning algorithm using GVG theory and it is modified smoothly by a Bezier curve to enable the car-like robots to follow it by maximizing our evaluation function. In this paper, we introduce a local smooth path-planning algorithm based on the GVG and explain the details of our evaluation function. Simulation and experimental results support the validity of the algorithm.

Original languageEnglish
Pages (from-to)385-401
Number of pages17
JournalAdvanced Robotics
Issue number5
Publication statusPublished - 2003


  • Bezier curve
  • Generalized Voronoi graph
  • Mobile robot exploration
  • Non-holonomic constraint

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Human-Computer Interaction
  • Hardware and Architecture
  • Computer Science Applications


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