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

Howie Choset, Keiji Nagatani, Alfred Rizzi

研究成果: Conference article査読

4 被引用数 (Scopus)

抄録

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.

本文言語English
ページ(範囲)72-83
ページ数12
ジャーナルProceedings of SPIE - The International Society for Optical Engineering
3210
DOI
出版ステータスPublished - 1998
外部発表はい
イベントMobile Robots XII - Pittsburgh, PA, United States
継続期間: 1997 10 161997 10 16

ASJC Scopus subject areas

  • 電子材料、光学材料、および磁性材料
  • 凝縮系物理学
  • コンピュータ サイエンスの応用
  • 応用数学
  • 電子工学および電気工学

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