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Published April 1996 | Version Published
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Sensor based planning for a planar rod robot

Creators

  • 1. ROR icon California Institute of Technology

Abstract

Sensor based planning for rod-shaped robots is necessary for the realistic deployment of noncircular symmetric robots into unknown environments. To this end, the rod hierarchical generalized Voronoi graph (rod-HGVG), introduced in this paper, is a roadmap for rod-like robots. A key feature of this roadmap is that it can be incrementally constructed using distance (range) information. This planning paradigm is an extension of previous work on sensor based planning for point robots.

Additional Information

© 1996 IEEE. The authors gratefully acknowledge the support of the Office of Naval Research, Grant # N00014-93-1-0782. The authors profusely thank Dr. Andrew Lewis for his consistent help on our research. We also benefited greatly from conversations with Dr. Richard Murray, Luis Goncalves, William Law, and Scott Kelley.

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Identifiers

Eprint ID
96345
Resolver ID
CaltechAUTHORS:20190612-150737171

Funding

Office of Naval Research (ONR)
N00014-93-1-0782

Dates

Created
2019-06-13
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Updated
2021-11-16
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