Mobile robot navigation: Issues in implementating the generalized Voronoi graph in the plane

Choset H., Konukseven I. , Burdick J.

1996 IEEE/SICE/RSJ International Conference on Multisensor Fusion and Integration for Intelligent Systems, Washington, Kiribati, 8 - 11 December 1996, pp.241-248 identifier

  • Publication Type: Conference Paper / Full Text
  • Volume:
  • Doi Number: 10.1109/mfi.1996.572184
  • City: Washington
  • Country: Kiribati
  • Page Numbers: pp.241-248


This paper describes 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, and we describe how to incrementally construct this roadmap using only range information in an unknown environment. The GVG may then be used to guide future excursions into the explored environment. Experimental results validate the utility of this work.