Title :
Sensor based planning. I. The generalized Voronoi graph
Author :
Choset, Howie ; Burdick, Joel
Author_Institution :
Div. of Eng. & Appl. Sci., California Inst. of Technol., Pasadena, CA, USA
Abstract :
This paper introduces a 1-dimensional network of curves termed the generalized Voronoi graph (GVG) and its extension, the hierarchical generalized Voronoi graph (HGVG), which can be used as a basis for a roadmap or retract-like structure. The GVG and HGVG provide a basis for sensor based path planning in an unknown static environment. In this paper, the GVG and HGVG are defined and some of their properties are exploited to show their utility for motion planning. A companion paper describes how to use the GVG and HGVG for the purposes of sensor based planning
Keywords :
computational geometry; mobile robots; path planning; 1-dimensional network; hierarchical generalized Voronoi graph; motion planning; retract-like structure; roadmap; sensor based path planning; unknown static environment; Computational geometry; Convergence; Heuristic algorithms; Information geometry; Motion planning; Orbital robotics; Path planning; Process planning; Robot sensing systems; Sensor phenomena and characterization;
Conference_Titel :
Robotics and Automation, 1995. Proceedings., 1995 IEEE International Conference on
Conference_Location :
Nagoya
Print_ISBN :
0-7803-1965-6
DOI :
10.1109/ROBOT.1995.525511
