Sensor Based Planning for a Planar Rod Robot (1996)
| Venue: | In Proc. IEEE/SICE/RSJ Int. Conf. on Multisensor Fusion on Multisensor Fusion and Integration for Intelligent Systems |
| Citations: | 15 - 6 self |
BibTeX
@INPROCEEDINGS{Choset96sensorbased,
author = {Howie Choset and Joel Burdick},
title = {Sensor Based Planning for a Planar Rod Robot},
booktitle = {In Proc. IEEE/SICE/RSJ Int. Conf. on Multisensor Fusion on Multisensor Fusion and Integration for Intelligent Systems},
year = {1996}
}
Years of Citing Articles
Bookmark
 |
 |
 |
 |
 |
 |
OpenURL
Abstract
Sensor based planning for rod-shaped robots is necessary for the realistic deployment of noncircular symmetric robots into unknown environments. To this end, the rod hierarchical generalized Voronoi graph (rod-HGVG), introduced in this paper, is a roadmap for rod-like robots. A key feature of this roadmap is that it can be incrementally constructed using distance (range) information. This planning paradigm is an extension of previous work on sensor based planning for point robots.
