DocumentCode
2631306
Title
Mobile robot navigation: issues in implementating the generalized Voronoi graph in the plane
Author
Choset, Howie ; Konukseven, Ilhan ; Burdick, Joel
Author_Institution
Carnegie Mellon Univ., Pittsburgh, PA, USA
fYear
1996
fDate
8-11 Dec 1996
Firstpage
241
Lastpage
248
Abstract
This paper describes 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, and we describe how to incrementally construct this roadmap using only range information in an unknown environment. The GVG may then be used to guide future excursions into the explored environment. Experimental results validate the utility of this work
Keywords
computational geometry; distance measurement; mobile robots; navigation; path planning; sensor fusion; sonar; explored environment; generalized Voronoi graph; mobile robot navigation; roadmap; sensor based motion planning algorithm; Computer vision; Heuristic algorithms; Mobile robots; Navigation; Orbital robotics; Path planning; Process planning; Robot sensing systems; Sensor phenomena and characterization; Sonar;
fLanguage
English
Publisher
ieee
Conference_Titel
Multisensor Fusion and Integration for Intelligent Systems, 1996. IEEE/SICE/RSJ International Conference on
Conference_Location
Washington, DC
Print_ISBN
0-7803-3700-X
Type
conf
DOI
10.1109/MFI.1996.572184
Filename
572184
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