mobile robot online motion planning using generalized voronoi graphs
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abstract
in this paper, a new online robot motion planner is developed for systematically exploring unknown environâ¬ments by intelligent mobile robots in real-time applications. the algorithm takes advantage of sensory data to find an obstacle-free start-to-goal path. it does so by online calculation of the generalized voronoi graph (gvg) of the free space, and utilizing a combination of depth-first and breadth-first searches on the gvg. the planner is equipped with components such as step generation and correction, backtracking, and loop handling. it is fast, simple, complete, and extendable to higher spaces.
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Journal title:
journal of optimization in industrial engineeringPublisher: qiau
ISSN 2251-9904
volume Volume 3
issue Issue 5 2010
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