Sensor-Based Path Planning for Planar Two-identical-Link Robots by Generalized Voronoi Graph일반화된 보로노이 그래프를 이용한 동일 두 링크 로봇의 센서 기반 경로계획
- Other Titles
- 일반화된 보로노이 그래프를 이용한 동일 두 링크 로봇의 센서 기반 경로계획
- Authors
- Shao, Ming lei; Shin, Kyoo Sik
- Issue Date
- Dec-2014
- Publisher
- 한국산학기술학회
- Keywords
- Two-identical-link Robots; Sensor-based Path Planning; Generalized Voronoi Graph
- Citation
- 한국산학기술학회논문지, v.15, no.12, pp.6986 - 6992
- Indexed
- KCI
- Journal Title
- 한국산학기술학회논문지
- Volume
- 15
- Number
- 12
- Start Page
- 6986
- End Page
- 6992
- URI
- https://scholarworks.bwise.kr/erica/handle/2021.sw.erica/24517
- DOI
- 10.5762/KAIS.2014.15.12.6986
- ISSN
- 1975-4701
- Abstract
- The generalized Voronoi graph (GVG) is a topological map of a constrained environment. This is defined in terms of workspace distance measurements using only sensor-provided information, with a robot having a maximum distance from obstacles, and is the optimum for exploration and obstacle avoidance. This is the safest path for the robot, and is very significant when studying the GVG edges of highly articulated robots. In previous work, the point-GVG edge and Rod-GVG were built with point robot and rod robot using sensor-based control. An attempt was made to use a higher degree of freedom robot to build GVG edges. This paper presents GVG-based a new local roadmap for the two-link robot in the constrained two-dimensional environment. This new local roadmap is called the two-identical-link generalized Voronoi graph (L2-GVG). This is used to explore an unknown planar workspace and build a local roadmap in an unknown configuration space R2×T2 for a planar two-identical-link robot. The two-identical-link GVG also can be constructed using only sensor-provided information. These results show the more complex properties of two-link-GVG, which are very different from point-GVG and rod-GVG. Furthermore, this approach draws on the experience of other highly articulated robots.
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