Sensor Based Planning: Using a Honing Strategy and Local Map Method to Implement the Generalized Voronoi Graph - Robotics Institute Carnegie Mellon University

Sensor Based Planning: Using a Honing Strategy and Local Map Method to Implement the Generalized Voronoi Graph

Howie Choset, Keiji Nagatani, and Alfred Rizzi
Conference Paper, Proceedings of SPIE Mobile Robotics XII, Vol. 3210, pp. 72 - 83, October, 1997

Abstract

This work prescribes the procedures that are required to implement, on a conventional mobile robot, a sensor based motion planning algorithm based on the generalized Voronoi graph (GVG). The GVG is a roadmap of a static environment; recall that a roadmap is a one-dimensional representation of an environment which the robot can use to plan a path between any two points in that environment. Once the robot has constructed the roadmap, it has in essence explored the environment. This work describes some issues in incrementally constructing the GVG with a mobile robot with a ring of sonar sensors. Specifically, we consider some issues in specularity and dead-reckoning error reduction.

BibTeX

@conference{Choset-1997-16421,
author = {Howie Choset and Keiji Nagatani and Alfred Rizzi},
title = {Sensor Based Planning: Using a Honing Strategy and Local Map Method to Implement the Generalized Voronoi Graph},
booktitle = {Proceedings of SPIE Mobile Robotics XII},
year = {1997},
month = {October},
volume = {3210},
pages = {72 - 83},
}