DocumentCode
2188272
Title
Sensor based planning for a planar rod robot
Author
Choset, Howie ; Burdick, Joel
Author_Institution
Div. of Eng. & Appl. Sci., California Inst. of Technol., Pasadena, CA, USA
Volume
4
fYear
1996
fDate
22-28 Apr 1996
Firstpage
3584
Abstract
Sensor based planning for rod-shaped robots is necessary for the realistic deployment of noncircular symmetric robots into unknown environments. To this end, the rod hierarchical generalized Voronoi graph (rod-HGVG), introduced in this paper, is a roadmap for rod-like robots. A key feature of this roadmap is that it can be incrementally constructed using distance (range) information. This planning paradigm is an extension of previous work on sensor based planning for point robots
Keywords
computational geometry; path planning; robots; noncircular symmetric robots; planar rod robot; rod hierarchical generalized Voronoi graph; sensor-based planning; Computational geometry; Distance measurement; Extraterrestrial measurements; Heuristic algorithms; Motion planning; Orbital robotics; Path planning; Robot sensing systems; Tactile sensors; Technology planning;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1996. Proceedings., 1996 IEEE International Conference on
Conference_Location
Minneapolis, MN
ISSN
1050-4729
Print_ISBN
0-7803-2988-0
Type
conf
DOI
10.1109/ROBOT.1996.509259
Filename
509259
Link To Document