• DocumentCode
    1802606
  • Title

    Sensor-based planning for planar two-link rigid robot

  • Author

    Minglei Shao ; Lee, Jiyeong ; Changsoo Han

  • Author_Institution
    Department of Mechanical Engineering, Hanyang University, Ansan, South Korea
  • fYear
    2013
  • fDate
    1-8 Jan. 2013
  • Firstpage
    1
  • Lastpage
    4
  • Abstract
    This paper presents a new roadmap which is called the two-link generalized Voronoi graph (two-link GVG). This roadmap can be used to explore an unknown planar workspace and built a roadmap in an unknown configuration space ℝ2 × T2 for a planar two-link rigid bodies. This method is based on the rod generalized Voronoi graph (rod-GVG). The two-link GVG can be constructed using only sensor-provided information. Furthermore, this approach is worth drawing on the experience of any other highly articulated robots.
  • Keywords
    Face; Navigation; Path planning; Planning; Robot sensing systems; Vectors; Two-link rigid bodies; generalized Voronoi diagram; motion planning; roadmap; sensor-based planning;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Conference Anthology, IEEE
  • Conference_Location
    China
  • Type

    conf

  • DOI
    10.1109/ANTHOLOGY.2013.6784840
  • Filename
    6784840
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=1802606