DocumentCode
300029
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
Volume
2
fYear
1995
fDate
21-27 May 1995
Firstpage
1643
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1995. Proceedings., 1995 IEEE International Conference on
Conference_Location
Nagoya
ISSN
1050-4729
Print_ISBN
0-7803-1965-6
Type
conf
DOI
10.1109/ROBOT.1995.525510
Filename
525510
Link To Document