Sensor Based Planning, Part II: Incremental Construction of the Generalized Voronoi Graph (1995)
by
Howie Choset
,
Joel Burdick
| Venue: | IN PROC. IEEE INT. CONF. ON ROBOTICS AND AUTOMATION |
| Citations: | 52 - 13 self |
BibTeX
@INPROCEEDINGS{Choset95sensorbased,
author = {Howie Choset and Joel Burdick},
title = {Sensor Based Planning, Part II: Incremental Construction of the Generalized Voronoi Graph},
booktitle = {IN PROC. IEEE INT. CONF. ON ROBOTICS AND AUTOMATION},
year = {1995},
pages = {1643--1648},
publisher = {}
}
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Abstract
This paper prescribes an incremental procedure to construct the Generalized Voronoi Graph (GVG) and the Hierarchical Generalized Voronoi Graph (HGVG) detailed in the companion paper [4]. The procedure requires only local distance sensor measurements, and therefore the method can be used asabasis for sensor based planning algorithms.
