Sensor Based Planning: A Control Law for Generating the Generalized Voronoi Graph

Howie Choset, Ilhan Konukseven, and Alfred Rizzi
Proceedings of ICAR '97, July, 1997, pp. 333 - 338.


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Abstract
We introduce a new control law for robots that explore unknown environments and configuration spaces. Unlike numerical continuation methods, which produce a jagged path because of the predictor-corrector approach, the control law, introduced in this paper, performs sensor based planning by directing the head of a robot to follow continuously a roadmap. Recall that a roadmap is a one-dimensional representation of a robot's environment. Once the robot exhaustively traces out the roadmap using this control law, it has in essence explored an environment. Experiments on a mobile robot validate the control law.

Notes

Text Reference
Howie Choset, Ilhan Konukseven, and Alfred Rizzi, "Sensor Based Planning: A Control Law for Generating the Generalized Voronoi Graph," Proceedings of ICAR '97, July, 1997, pp. 333 - 338.

BibTeX Reference
@inproceedings{Choset_1997_1414,
   author = "Howie Choset and Ilhan Konukseven and Alfred Rizzi",
   title = "Sensor Based Planning: A Control Law for Generating the Generalized Voronoi Graph",
   booktitle = "Proceedings of ICAR '97",
   pages = "333 - 338",
   month = "July",
   year = "1997",
}