Sensor based planning: Using a honing strategy and local map method to implement the generalized Voronoi graph

Howie Choset, Keiji Nagatani, Alfred Rizzi

Research output: Contribution to journalConference articlepeer-review

4 Citations (Scopus)

Abstract

This work prescribes the procedures that are required to implement, on a conventional mobile robot, a sensor based motion planning algorithm based on the generalized Voronoi graph (GVG). The GVG is a roadmap of a static environment; recall that a roadmap is a one-dimensional representation of an environment which the robot can use to plan a path between any two points in that environment. Once the robot has constructed the roadmap, it has in essence explored the environment. This work describes some issues in incrementally constructing the GVG with a mobile robot with a ring of sonar sensors. Specifically, we consider some issues in specularity and dead-reckoning error reduction.

Original languageEnglish
Pages (from-to)72-83
Number of pages12
JournalProceedings of SPIE - The International Society for Optical Engineering
Volume3210
DOIs
Publication statusPublished - 1998
Externally publishedYes
EventMobile Robots XII - Pittsburgh, PA, United States
Duration: 1997 Oct 161997 Oct 16

Keywords

  • Control law
  • Exploration
  • Honing
  • Mapping
  • Mobile robot
  • Sensor based planning
  • Voronoi diagrams

ASJC Scopus subject areas

  • Electronic, Optical and Magnetic Materials
  • Condensed Matter Physics
  • Computer Science Applications
  • Applied Mathematics
  • Electrical and Electronic Engineering

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