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Carnegie Mellon Robotics Institute

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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.

Notes

Associated Lab(s) / Group(s): Biorobotics

Associated Project(s): Retract-like structures for Euclidian Spaces and Bridge Inspection with Serpentine Robots

Text Reference

Howie Choset and J. Burdick, "Sensor Based Planning, Part I: The Generalized Voronoi Graph," Proceedings of the 1995 IEEE International Conference on Robotics and Automation (ICRA '95), May, 1995, pp. 1649 - 1655.

BibTeX Reference

@inproceedings{Choset_1995_1409,
   author = "Howie Choset and J. Burdick",
   title = "Sensor Based Planning, Part I: The Generalized Voronoi Graph",
   booktitle = "Proceedings of the 1995 IEEE International Conference on Robotics and Automation (ICRA '95)",
   pages = "1649 - 1655",
   month = "May",
   year = "1995",
   volume = "2",
}

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