Sensor-Based Exploration: The Hierarchical Generalized Voronoi Graph

@article{Choset2000SensorBasedET,
  title={Sensor-Based Exploration: The Hierarchical Generalized Voronoi Graph},
  author={Howie Choset and Joel W. Burdick},
  journal={I. J. Robotics Res.},
  year={2000},
  volume={19},
  pages={96-125}
}
The hierarchical generalized Voronoi graph (HGVG) is a new roadmap developed for sensor-based exploration in unknown environments. This paper defines the HGVG structure: a robot can plan a path between two locations in its work space or configuration space by simply planning a path onto the HGVG, then along the HGVG, and finally from the HGVG to the goal. Since the bulk of the path planning occurs on the one-dimensional HGVG, motion planning in arbitrary dimensioned spaces is virtually reduced… CONTINUE READING
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