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Sensor-based navigation algorithm for car-like robot to generate completed GVG

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3 Author(s)
Quan Yuan ; Dept. of Mech. Eng., Hanyang Univ., Ansan, South Korea ; Ji Yeong Lee ; Changsoo Han

Sensor based exploration is a task which enables a robot to explore and map an unknown environment using sensor information. This paper we present a new algorithm that enables a car-like robot to explore an unknown planar workspace, i.e, an unknown configuration space diffeomorphic to SE(2). This paper describes the procedures that are required to implement on a car-like mobile robot, a sensor based motion planning algorithm based on the Generalized Voronoi Graph (GVG). In previous research in GVG prescribed path for a circular robot with infinite detector range. The circular robot is holonomic system, but this time GVG is used in nonholonomic system, which is the central contribution of this paper.

Published in:

Control, Automation and Systems (ICCAS), 2011 11th International Conference on

Date of Conference:

26-29 Oct. 2011