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Mobile robot navigation: issues in implementating the generalized Voronoi graph in the plane

Choset, Howie and Konukseven, Ilhan and Burdick, Joel (1996) Mobile robot navigation: issues in implementating the generalized Voronoi graph in the plane. In: 1996 IEEE/SICE/RSJ International Conference on Multisensor Fusion and Integration for Intelligent Systems. IEEE , Piscataway, NJ, pp. 241-248. ISBN 0-7803-3700-X. https://resolver.caltech.edu/CaltechAUTHORS:20190612-151205886

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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.


Item Type:Book Section
Related URLs:
URLURL TypeDescription
https://doi.org/10.1109/MFI.1996.572184DOIArticle
Additional Information:© 1996 IEEE.
Record Number:CaltechAUTHORS:20190612-151205886
Persistent URL:https://resolver.caltech.edu/CaltechAUTHORS:20190612-151205886
Official Citation:H. Choset, I. Konukseven and J. Burdick, "Mobile robot navigation: issues in implementating the generalized Voronoi graph in the plane," 1996 IEEE/SICE/RSJ International Conference on Multisensor Fusion and Integration for Intelligent Systems (Cat. No.96TH8242), Washington, DC, USA, 1996, pp. 241-248. doi: 10.1109/MFI.1996.572184
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:96346
Collection:CaltechAUTHORS
Deposited By: Tony Diaz
Deposited On:13 Jun 2019 16:32
Last Modified:03 Oct 2019 21:21

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