Mobile Robot Navigation: Issues in Implementation the Generalized Voronoi Graph in the Plane

Howie Choset, Ilhan Konukseven, and Joel Burdick
Proceedings of the IEEE/SICE/RSJ International Conference on Multisensor Fusion and Integration for Intelligent Systems, December, 1996, pp. 241 - 248.


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Abstract
This paper describes 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, and we describe how to incrementally construct this roadmap using only range information in an unknown environment. The GVG may then be used to guide future excursions into the explored environment. Experimental results validate the utility of this work.

Notes

Text Reference
Howie Choset, Ilhan Konukseven, and Joel Burdick, "Mobile Robot Navigation: Issues in Implementation the Generalized Voronoi Graph in the Plane," Proceedings of the IEEE/SICE/RSJ International Conference on Multisensor Fusion and Integration for Intelligent Systems, December, 1996, pp. 241 - 248.

BibTeX Reference
@inproceedings{Choset_1996_1415,
   author = "Howie Choset and Ilhan Konukseven and Joel Burdick",
   title = "Mobile Robot Navigation: Issues in Implementation the Generalized Voronoi Graph in the Plane",
   booktitle = "Proceedings of the IEEE/SICE/RSJ International Conference on Multisensor Fusion and Integration for Intelligent Systems",
   pages = "241 - 248",
   month = "December",
   year = "1996",
}