Title :
Sensor based planning for a planar rod robot
Author :
Choset, Howie ; Burdick, Joel
Author_Institution :
Div. of Eng. & Appl. Sci., California Inst. of Technol., Pasadena, CA, USA
Abstract :
Sensor based planning for rod-shaped robots is necessary for the realistic deployment of noncircular symmetric robots into unknown environments. To this end, the rod hierarchical generalized Voronoi graph (rod-HGVG), introduced in this paper, is a roadmap for rod-like robots. A key feature of this roadmap is that it can be incrementally constructed using distance (range) information. This planning paradigm is an extension of previous work on sensor based planning for point robots
Keywords :
computational geometry; path planning; robots; noncircular symmetric robots; planar rod robot; rod hierarchical generalized Voronoi graph; sensor-based planning; Computational geometry; Distance measurement; Extraterrestrial measurements; Heuristic algorithms; Motion planning; Orbital robotics; Path planning; Robot sensing systems; Tactile sensors; Technology planning;
Conference_Titel :
Robotics and Automation, 1996. Proceedings., 1996 IEEE International Conference on
Conference_Location :
Minneapolis, MN
Print_ISBN :
0-7803-2988-0
DOI :
10.1109/ROBOT.1996.509259
