Published May 1994
| Published
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Sensor based planning and nonsmooth analysis
- Creators
- Choset, Howie
- Burdick, Joel
Abstract
This paper describes some initial steps towards sensor based path planning in an unknown static environment. The method is a based on a sensor-based incremental construction of a one-dimensional retract of the free space. In this paper we introduce a retract termed the generalized Voronoi graph, and also analyze the roadmap of Canny and Lin's opportunistic path planner (1990, 1993). The bulk of this paper is devoted to the application of nonsmooth analysis to the Euclidean distance function. We show that the distance function is in fact nonsmooth at the points which are required to construct the plan. This analysis leads directly to the incorporation of simple and realistic sensor models into the planning scheme.
Additional Information
© 1994 IEEE. The authors grateful acknowledge the support of the Office of Naval Research, Grant # N00014-93-1-0782. The authors would like to thank Jim Ostrowski, Andrew Lewis, Elon Rimon and Andrew Conley for their discussions. In particular, we would like to thank Jim Ostrowski for supplying a proof for Prop. 5.3.Attached Files
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Additional details
- Eprint ID
- 96322
- Resolver ID
- CaltechAUTHORS:20190612-105538995
- N00014-93-1-0782
- Office of Naval Research (ONR)
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2019-06-12Created from EPrint's datestamp field
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2021-11-16Created from EPrint's last_modified field