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Proceedings Paper

Sensor-based planning: using a honing strategy and local map method to implement the generalized Voronoi graph
Author(s): Howie M. Choset; Keiji Nagatani; Alfred A. Rizzi
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Paper Abstract

This work prescribes 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; recall that a roadmap is a 1D representation of an environment which the robot can use to plan a path between any two points in that environment. Once the robot has constructed the roadmap, it has in essence explored the environment. This work describes some issues in incrementally constructing the GVG with a mobile robot wit a ring of sonar sensors. Specifically, we consider some issues in specularity and dead-reckoning error reduction.

Paper Details

Date Published: 25 January 1998
PDF: 12 pages
Proc. SPIE 3210, Mobile Robots XII, (25 January 1998); doi: 10.1117/12.299555
Show Author Affiliations
Howie M. Choset, Carnegie Mellon Univ. (United States)
Keiji Nagatani, Carnegie Mellon Univ. (United States)
Alfred A. Rizzi, Carnegie Mellon Univ. (United States)


Published in SPIE Proceedings Vol. 3210:
Mobile Robots XII
Douglas W. Gage, Editor(s)

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