DMCA
Sensor Based Planning: A Control Law for Generating the Generalized Voronoi Graph (1996)
Cached
Download Links
| Venue: | In Submitted to Proc. IEEE Int. Advanced Robotics |
| Citations: | 18 - 4 self |
BibTeX
@INPROCEEDINGS{Choset96sensorbased,
author = {Howie Choset and Ilhan Konukseven and Alfred Rizzi},
title = {Sensor Based Planning: A Control Law for Generating the Generalized Voronoi Graph},
booktitle = {In Submitted to Proc. IEEE Int. Advanced Robotics},
year = {1996}
}
Share
 |
 |
 |
 |
||
OpenURL
Abstract
Abstract We introduce a new control law for robots that explore unknown environments and con guration spaces. Unlike numerical continuation methods, which produce a jagged path because of the predictor-corrector approach, the control law, introduced inthispaper, performs sensor based planning by directing the head of a robot to follow continuously a roadmap. Recall that a roadmap is a one-dimensional representation of a robot's environment. Once therobot exhaustively traces out the roadmap using this control law, it has in essence explored an environment. Experiments on a mobile robot validate the control law. 1
