Sensor-based Navigation Algorithm for Car-like Robot to Generate completed GVG

被引：0

作者：

Yuan, Quan ^{[1
]}

Lee, Ji Yeong ^{[1
]}

Han, Changsoo ^{[1
]}

机构：

[1] Hanyang Univ, Dept Mech Engn, Ansan 133791, South Korea

来源：

2011 11TH INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND SYSTEMS (ICCAS) | 2011年

关键词：

Sensor-based; Nonholonomic; Car-like mobile robot; Completed GVG;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

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.

引用

页码：1442 / 1447

页数：6

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