Sensor Based Planning, Part I: The Generalized Voronoi Graph
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, Vol. 2, pp. 1649 - 1655, May, 1995
Abstract
This paper introduces a 1-dimensional network of curves termed the generalized Voronoi graph (GVG) and its extension, the hierarchical generalized Voronoi graph (HGVG), which can be used as a basis for a roadmap or retract-like structure. The GVG and HGVG provide a basis for sensor based path planning in an unknown static environment. In this paper, the GVG and HGVG are defined and some of their properties are exploited to show their utility for motion planning. A companion paper describes how to use the GVG and HGVG for the purposes of sensor based planning.
BibTeX
@conference{Choset-1995-13875,author = {Howie Choset and J. Burdick},
title = {Sensor Based Planning, Part I: The Generalized Voronoi Graph},
booktitle = {Proceedings of (ICRA) International Conference on Robotics and Automation},
year = {1995},
month = {May},
volume = {2},
pages = {1649 - 1655},
}
Copyright notice: This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. These works may not be reposted without the explicit permission of the copyright holder.