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Sensor based planning: A control law for generating the generalized Voronoi graph
Date
1997-01-01
Author
Choset, H
Konukseven, Erhan İlhan
Rizzi, A
Metadata
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This work is licensed under a
Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License
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We introduce a new control law for robots that explore unknown environments and configuration spaces. Unlike numerical continuation methods, which produce a jagged path because of the predictor-corrector approach, the control law, introduced in this paper, performs sensor based planning by directing the head of a robot to follow continuously a roadmap. Recall that a roadmap is a one-dimensional representation of a robot's environment. Once the robot exhaustively traces out the roadmap using this control law, it has in essence explored an environment. Experiments on a mobile robot validate the control law
Subject Keywords
Robot sensing systems
,
Orbital robotics
,
Process planning
,
Robot control
,
Mobile robots
,
Road accidents
,
Path planning
,
Sensor phenomena and characterization
,
Heuristic algorithms
,
Sonar
URI
https://hdl.handle.net/11511/45769
DOI
https://doi.org/10.1109/icar.1997.620203
Collections
Department of Mechanical Engineering, Conference / Seminar