Title :
Construction of the generalized Voronoi diagram of the unknown environment
Author_Institution :
Fac. of Comput. & Inf. Sci., Ljubljana Univ., Slovenia
Abstract :
A method to construct a generalized Voronoi diagram of the unknown planar environment, populated by obstacles of general shape, is presented. The construction of the diagram out of real data supplied by a laser scanner is described, which is based on several local GLVDs from various regions of the free space. GLVD is a structure which represents the locally visible free space around the robot. The method for systematical exploration of the unknown environment is also described in which local GLVDs are obtained
Keywords :
collision avoidance; computational geometry; mobile robots; free space; generalized Voronoi diagram construction; laser scanner data; locally visible free space; mobile robot path planning; obstacles; unknown planar environment; Dead reckoning; Mobile robots; Motion-planning; Orbital robotics; Robot kinematics; Robot sensing systems; Sensor systems; Shape; Sonar measurements;
Conference_Titel :
Industrial Electronics, 1999. ISIE '99. Proceedings of the IEEE International Symposium on
Conference_Location :
Bled
Print_ISBN :
0-7803-5662-4
DOI :
10.1109/ISIE.1999.796754
