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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.