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Sensor based planning. I. The generalized Voronoi graph

Choset, Howie and Burdick, Joel (1995) Sensor based planning. I. The generalized Voronoi graph. In: Proceedings of 1995 IEEE International Conference on Robotics and Automation. Vol.2. IEEE , Piscataway, NJ, pp. 1649-1655. ISBN 0-7803-1965-6. https://resolver.caltech.edu/CaltechAUTHORS:20190612-135455797

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Abstract

This paper introduces a 1-dimensional network of curves termed the generalized Voronoi graph (GVG) and its extension, the hierarchical generalized Voronoi graph (HGVG), which can be used as a basis for a roadmap or retract-like structure. The GVG and HGVG provide a basis for sensor based path planning in an unknown static environment. In this paper, the GVG and HGVG are defined and some of their properties are exploited to show their utility for motion planning. A companion paper describes how to use the GVG and HGVG for the purposes of sensor based planning.


Item Type:Book Section
Related URLs:
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https://doi.org/10.1109/ROBOT.1995.525511DOIArticle
Additional Information:© 1995 IEEE.
Record Number:CaltechAUTHORS:20190612-135455797
Persistent URL:https://resolver.caltech.edu/CaltechAUTHORS:20190612-135455797
Official Citation:H. Choset and J. Burdick, "Sensor based planning. I. The generalized Voronoi graph," Proceedings of 1995 IEEE International Conference on Robotics and Automation, Nagoya, Japan, 1995, pp. 1649-1655 vol.2. doi: 10.1109/ROBOT.1995.525511
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:96338
Collection:CaltechAUTHORS
Deposited By: Tony Diaz
Deposited On:12 Jun 2019 20:59
Last Modified:03 Oct 2019 21:21

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