Sensor-based planning: using a honing strategy and local map method to implement the generalized Voronoi graph

This work prescribes the procedures that are required to implement, on a conventional mobile robot, a sensor based motion planning algorithm based on the generalized Voronoi graph (GVG). The GVG is a roadmap of a static environment; recall that a roadmap is a one-dimensional representation of an environment which the robot can use to plan a path between any two points in that environment. Once the robot has constructed the roadmap, it has in essence explored the environment. This work describes some issues in incrementally constructing the GVG with a mobile robot with a ring of sonar sensors. Speci cally, we consider some issues in specularity and dead-reckoning error reduction.