Mobile robot navigation: Issues in implementating the generalized Voronoi graph in the plane

Date

1996-01-01

Author

Choset, H
Konukseven, Erhan İlhan
Burdick, J

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This work is licensed under a Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

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This paper describes the procedures that are required to implement, on a conventional mobile robot, a sensor based motion planning algorithm based on the generalized Voronoi graph (GVG). The GVG is a roadmap of a static environment, and we describe how to incrementally construct this roadmap using only range information in an unknown environment. The GVG may then be used to guide future excursions into the explored environment. Experimental results validate the utility of this work.

URI

https://hdl.handle.net/11511/36212

Collections

Department of Mechanical Engineering, Conference / Seminar