DocumentCode
3207801
Title
Construction of the generalized Voronoi diagram of the unknown environment
Author
Mahkovic, R.
Author_Institution
Fac. of Comput. & Inf. Sci., Ljubljana Univ., Slovenia
Volume
3
fYear
1999
fDate
1999
Firstpage
984
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Industrial Electronics, 1999. ISIE '99. Proceedings of the IEEE International Symposium on
Conference_Location
Bled
Print_ISBN
0-7803-5662-4
Type
conf
DOI
10.1109/ISIE.1999.796754
Filename
796754
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