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Construction of the generalized Voronoi diagram of the unknown environment

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1 Author(s)
Mahkovic, R. ; Fac. of Comput. & Inf. Sci., Ljubljana Univ., Slovenia

A method to construct a generalized Voronoi diagram of the unknown planar environment, populated by obstacles of general shape, is presented. The construction of the diagram out of real data supplied by a laser scanner is described, which is based on several local GLVDs from various regions of the free space. GLVD is a structure which represents the locally visible free space around the robot. The method for systematical exploration of the unknown environment is also described in which local GLVDs are obtained

Published in:

Industrial Electronics, 1999. ISIE '99. Proceedings of the IEEE International Symposium on  (Volume:3 )

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