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

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

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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.

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},
year = {1997},
month = {July},
pages = {333 - 338},
} 2017-09-13T10:50:00-04:00