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Sensor based planning. II. Incremental construction of the generalized Voronoi graph

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2 Author(s)
Choset, H. ; Div. of Eng. & Appl. Sci., California Inst. of Technol., Pasadena, CA, USA ; Burdick, J.

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. The procedure requires only local distance sensor measurements, and therefore the method can be used as a basis for sensor based planning algorithms

Published in:

Robotics and Automation, 1995. Proceedings., 1995 IEEE International Conference on  (Volume:2 )

Date of Conference:

21-27 May 1995