Sensor Based Planning: A Control Law for Generating the Generalized Voronoi Graph
Conference Paper, Proceedings of 8th International Conference on Advanced Robotics (ICAR '97), pp. 333 - 338, July, 1997
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.
BibTeX
@conference{Choset-1997-14425,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 8th International Conference on Advanced Robotics (ICAR '97)},
year = {1997},
month = {July},
pages = {333 - 338},
}
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