Published December 1996
| Published
Book Section - Chapter
Open
Mobile robot navigation: issues in implementating the generalized Voronoi graph in the plane
- Creators
- Choset, Howie
- Konukseven, Ilhan
- Burdick, Joel
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.
Additional Information
© 1996 IEEE.Attached Files
Published - 00572184.pdf
Files
00572184.pdf
Files
(882.2 kB)
Name | Size | Download all |
---|---|---|
md5:4474faae237a0ccb74e883cfdcce6112
|
882.2 kB | Preview Download |
Additional details
- Eprint ID
- 96346
- Resolver ID
- CaltechAUTHORS:20190612-151205886
- Created
-
2019-06-13Created from EPrint's datestamp field
- Updated
-
2021-11-16Created from EPrint's last_modified field