Sensor-based planning: using a honing strategy and local map method to implement the generalized Voronoi graph

@inproceedings{Choset1997SensorbasedPU,
  title={Sensor-based planning: using a honing strategy and local map method to implement the generalized Voronoi graph},
  author={Howie Choset and Keiji Nagatani and Alfred A. Rizzi},
  booktitle={Mobile Robots},
  year={1997}
}
This work prescribes the procedures that are required to implement, on a conventional mobile robot, a sensor based motion planning algorithm based on the generalized Voronoi graph (GVG). The GVG is a roadmap of a static environment; recall that a roadmap is a one-dimensional representation of an environment which the robot can use to plan a path between any two points in that environment. Once the robot has constructed the roadmap, it has in essence explored the environment. This work describes… CONTINUE READING
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