Sensor-based Path Planning: The Two-Identical-Link Hierarchical Generalized Voronoi Graph
- Authors
- Shao, Ming-Lei; Lee, Ji-Yeong; Han, Chang-Soo; Shin, Kyoo-Sik
- Issue Date
- Jul-2015
- Publisher
- 한국정밀공학회
- Keywords
- Two-identical-link robot; Sensor-based exploration; Hierarchical generalized Voronoi graph; Motion planning
- Citation
- International Journal of Precision Engineering and Manufacturing, v.16, no.8, pp.1883 - 1887
- Indexed
- SCIE
SCOPUS
KCI
- Journal Title
- International Journal of Precision Engineering and Manufacturing
- Volume
- 16
- Number
- 8
- Start Page
- 1883
- End Page
- 1887
- URI
- https://scholarworks.bwise.kr/erica/handle/2021.sw.erica/17857
- DOI
- 10.1007/s12541-015-0245-4
- ISSN
- 2234-7593
- Abstract
- We present a new roadmap based on a generalized Voronoi graph (GVG) for two-identical-link (L-2) robots to explore an unknown planar environment. It is called the L-2 hierarchical generalized Voronoi graph (L-2-HGVG). The L-2 robot is formed by two equal length rods and a revolute joint between them. The configuration of the robot possesses four degree-of-freedom, two for position and two for orientation, and hence the roadmap is one-dimensional in an unknown configuration space R-2 x T-2. L-2-HGVG is defined in terms of workspace distance measurements using only sensor information without prior knowledge of the environment, with the robot having the maximum distance from obstacles, and is therefore optimum in a point of view for exploration and obstacle avoidance.
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