Sciweavers

Share
ICRA
2005
IEEE

Sensor-based Planning for Planar Multi-Convex Rigid Bodies

10 years 4 months ago
Sensor-based Planning for Planar Multi-Convex Rigid Bodies
— This paper presents a method for a planar rigid body consisting of multiple convex bodies to explore an unknown planar workspace, i.e., an unknown configuration space diffeomorphic to SE(2). This method is based on a roadmap termed concave hierarchical generalized Voronoi graph (concave-HGVG). Just as in our previous work, we decompose the free configuration space into contractible cells in which we define the concave generalized Voronoi graphs (concave-GVG), and then connect these graphs using an additional structure termed one-tangent edges. Since the robot consists of multiple convex bodies, the one-tangent edges are defined using the diameter function of the convex hull of the convex bodies as well as the individual convex bodies. These two structures together form the concave-HGVG, which is a one-dimensional roadmap of the multi-convex bodies in plane. Both components are defined in terms of workspace distance measurement, and thus the concave-HGVG can readily be construc...
Ji Yeong Lee, Howie Choset
Added 25 Jun 2010
Updated 25 Jun 2010
Type Conference
Year 2005
Where ICRA
Authors Ji Yeong Lee, Howie Choset
Comments (0)
books