Sensor based planning: A control law for generating the generalized Voronoi graph
8th International Conference on Advanced Robotics (ICAR 97), Monterrey, Meksika, 7 - 09 Temmuz 1997, ss.333-338, (Tam Metin Bildiri)
- Yayın Türü: Bildiri / Tam Metin Bildiri
- Cilt numarası:
- Doi Numarası: 10.1109/icar.1997.620203
- Basıldığı Şehir: Monterrey
- Basıldığı Ülke: Meksika
- Sayfa Sayıları: ss.333-338
- Orta Doğu Teknik Üniversitesi Adresli: Evet
Özet
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.