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Sensor based planning for a planar rod robot: incremental construction of the planar rod-HGVG

Choset, Howie and Mirtich, Brian and Burdick, Joel (1997) Sensor based planning for a planar rod robot: incremental construction of the planar rod-HGVG. In: 1997 Proceedings of International Conference on Robotics and Automation. Vol.4. IEEE , Piscataway, NJ, pp. 3427-3434. ISBN 0-7803-3612-7. https://resolver.caltech.edu/CaltechAUTHORS:20190621-151754726

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Abstract

This work considers sensor based motion planning for rod-shaped robots in unknown environments. The motion planning scheme is based on the rod hierarchical generalized Voronoi graph (rod-HGVG). The rod-HGVG is a roadmap for rod-like robots, and is an extension of a prior roadmap for point-like robots. We give an incremental method to construct the rod-HGVG thereby enabling exploration of unknown environments. An important practical feature of the algorithm is its sole reliance upon the use of work space distance measurements to objects that are within line of sight. Such measurements can be readily provided by conventional range sensors. Moreover, motion planning in a configuration space is achieved without explicitly constructing each configuration space obstacle. A key result derived in this paper is the distance gradient between two convex sets.


Item Type:Book Section
Related URLs:
URLURL TypeDescription
https://doi.org/10.1109/ROBOT.1997.606866DOIArticle
Additional Information:© 1997 IEEE.
Record Number:CaltechAUTHORS:20190621-151754726
Persistent URL:https://resolver.caltech.edu/CaltechAUTHORS:20190621-151754726
Official Citation:H. Choset, B. Mirtich and J. Burdick, "Sensor based planning for a planar rod robot: incremental construction of the planar rod-HGVG," Proceedings of International Conference on Robotics and Automation, Albuquerque, NM, USA, 1997, pp. 3427-3434 vol.4. doi: 10.1109/ROBOT.1997.606866
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:96638
Collection:CaltechAUTHORS
Deposited By: Tony Diaz
Deposited On:22 Jun 2019 18:19
Last Modified:03 Oct 2019 21:24

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