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2000

Sensor-Based Exploration: The Hierarchical Generalized Voronoi Graph

11 years 8 months ago
Sensor-Based Exploration: The Hierarchical Generalized Voronoi Graph
The hierarchical generalized Voronoi graph (HGVG) is a new roadmap developed for sensor-based exploration in unknown environments. This paper defines the HGVG structure: a robot can plan a path between two locations in its work space or configuration space by simply planning a path onto the HGVG, then along the HGVG, and finally from the HGVG to the goal. Since the bulk of the path planning occurs on the one-dimensional HGVG, motion planning in arbitrary dimensioned spaces is virtually reduced to a one-dimensional search problem. A bulk of this paper is dedicated to ensuring the HGVG is sufficient for motion planning by demonstrating the HGVG (with its links) is an arc-wise connected structure. All of the proofs in this paper that lead toward the connectivity result focus on a large subset of spaces in R3, but wherever possible, results are derived in Rm. In fact, under a strict set of conditions, the HGVG (the GVG by itself) is indeed connected, and hence sufficient for motion planni...
Howie Choset, Joel W. Burdick
Added 18 Dec 2010
Updated 18 Dec 2010
Type Journal
Year 2000
Where IJRR
Authors Howie Choset, Joel W. Burdick
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