Title :
Sensor based planning. II. Incremental construction of the generalized Voronoi graph
Author :
Choset, Howie ; Burdick, Joel
Author_Institution :
Div. of Eng. & Appl. Sci., California Inst. of Technol., Pasadena, CA, USA
Abstract :
This paper prescribes an incremental procedure to construct the generalized Voronoi graph (GVG) and the hierarchical generalized Voronoi graph (HGVG) detailed in the companion paper. The procedure requires only local distance sensor measurements, and therefore the method can be used as a basis for sensor based planning algorithms
Keywords :
computational geometry; graph theory; mobile robots; path planning; hierarchical generalized Voronoi graph; incremental construction procedure; local distance sensor measurements; sensor based planning; Algorithm design and analysis; Computational geometry; Orbital robotics; Robot sensing systems; Robotics and automation; Traffic control;
Conference_Titel :
Robotics and Automation, 1995. Proceedings., 1995 IEEE International Conference on
Conference_Location :
Nagoya
Print_ISBN :
0-7803-1965-6
DOI :
10.1109/ROBOT.1995.525510
