Choset, Howie (1996) Sensor based motion planning : the hierarchical generalized Voronoi graph. Dissertation (Ph.D.), California Institute of Technology. http://resolver.caltech.edu/CaltechETD:etd-12182007-090504
Sensor based motion planning incorporates sensor information reflecting the state of a robot's environment into its planning process, whereas traditional approaches assume complete prior knowledge of the robot's environment. Recent research has focused on the development and incremental construction of the hierarchical generalized Voronoi graph (HGVG), which is a concise representation of a robot's environment. The HGVG is advantageous in that it lends itself to sensor based construction in a rigorous and provably correct manner. With this approach, a robot can enter an unknown environment, incrementally construct the HGVG, and then use the HGVG for future excursions in the environment. Simulations and experiments validate this approach.
|Item Type:||Thesis (Dissertation (Ph.D.))|
|Degree Grantor:||California Institute of Technology|
|Division:||Engineering and Applied Science|
|Major Option:||Mechanical Engineering|
|Thesis Availability:||Restricted to Caltech community only|
|Defense Date:||5 March 1996|
|Default Usage Policy:||No commercial reproduction, distribution, display or performance rights in this work are provided.|
|Deposited By:||Imported from ETD-db|
|Deposited On:||08 Jan 2008|
|Last Modified:||26 Dec 2012 03:14|
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