Sensor-based planning for planar two-link rigid robot

This paper presents a new roadmap which is called the two-link generalized Voronoi graph (two-link GVG). This roadmap can be used to explore an unknown planar workspace and built a roadmap in an unknown configuration space ℝ² × T² for a planar two-link rigid bodies. This method is based on the rod generalized Voronoi graph (rod-GVG). The two-link GVG can be constructed using only sensor-provided information. Furthermore, this approach is worth drawing on the experience of any other highly articulated robots.