/Sensor Based Planning, Part II: Incremental Construction of the Generalized Voronoi Graph

Sensor Based Planning, Part II: Incremental Construction of the Generalized Voronoi Graph

Howie Choset and J. Burdick
Conference Paper, Proceedings of the 1995 IEEE International Conference on Robotics and Automation (ICRA '95), Vol. 2, pp. 1643 - 1648, May, 1995

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Abstract

This paper prescribes an incremental procedure to construct the generalized Voronoi graph (GVG) and the hierarchical generalized Voronoi graph (HGVG) detailed in the companion paper. The procedure requires only local distance sensor measurements, and therefore the method can be used as a basis for sensor based planning algorithms.

BibTeX Reference
@conference{Choset-1995-13876,
author = {Howie Choset and J. Burdick},
title = {Sensor Based Planning, Part II: Incremental Construction of the Generalized Voronoi Graph},
booktitle = {Proceedings of the 1995 IEEE International Conference on Robotics and Automation (ICRA '95)},
year = {1995},
month = {May},
volume = {2},
pages = {1643 - 1648},
}
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