Sensor based planning: A control law for generating the generalized Voronoi graph

Date

1997-01-01

Author

Choset, H
Konukseven, Erhan İlhan
Rizzi, A

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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

Collections

Department of Mechanical Engineering, Conference / Seminar