Sensor based planning: A control law for generating the generalized Voronoi graph

Choset H., Konukseven I., Rizzi A.

8th International Conference on Advanced Robotics (ICAR 97), Monterrey, Mexico, 7 - 09 July 1997, pp.333-338 identifier identifier

  • Publication Type: Conference Paper / Full Text
  • Volume:
  • Doi Number: 10.1109/icar.1997.620203
  • City: Monterrey
  • Country: Mexico
  • Page Numbers: pp.333-338
  • Middle East Technical University Affiliated: No


We introduce a new control law for robots that explore unknown environments and configuration spaces. Unlike numerical continuation methods, which produce a jagged path because of the predictor-corrector approach, the control law, introduced in this paper, performs sensor based planning by directing the head of a robot to follow continuously a roadmap. Recall that a roadmap is a one-dimensional representation of a robot's environment. Once the robot exhaustively traces out the roadmap using this control law, it has in essence explored an environment. Experiments on a mobile robot validate the control law.