Constructing the generalized local Voronoi diagram from laser range scanner data

IEEE Transactions on Systems, Man, and Cybernetics Part A:Systems and Humans.

Volumn 30, Issue 6, 2000, Pages 710-719

  Mahkovic, Rajko ^b   Slivnik, Tomaž ^a,b  

^a IEEE

^b UNIVERSITY OF LJUBLJANA   (Slovenia)

Author keywords

[No Author keywords available]

Indexed keywords

ALGORITHMS; COLLISION AVOIDANCE; COMPUTER VISION; EDGE DETECTION; INTERPOLATION; LASERS; NAVIGATION SYSTEMS; RANGE FINDERS; SENSORS; SET THEORY; TREES (MATHEMATICS);

CIRCULAR BASE ROBOT; EXPLORATION; GENERALIZED LOCAL VORONOI DIAGRAM; LASER RANGE SCANNER; MAP BUILDING;

MOBILE ROBOTS;

EID: 0034313376     PISSN: 10834427     EISSN: None     Source Type: Journal    
DOI: 10.1109/3468.895894     Document Type: Article

References (29)

1. N. Ayache and O. D. Faugeras, "Maintaining representations of the environment of a mobile robot," IEEE Trans. Robot. Automat., vol. 5, no. 6, pp. 804-819, 1989.
2. J. Borenstein and J. Koren, "Real-time obstacle avoidance for fast mobile robots in cluttered environments," in Proc. IEEE Int. Conf. Robotics and Automation, Cincinnati, OH, May 1990, pp. 572-577.
3. R. A. Brooks, "A robust layered control system for a mobile robot," IEEE J. Robot. Automat., vol. RA-2, March 1986.
4. H. Choset and J. Burdick, "Sensor based planning - Part I: The generalized Voronoi graph," in Proc. IEEE Int. Conf. Robotics and Automation, Nagoya, Japan, 1995, pp. 1649-1655.
5. _, "Sensor based planning - Part II: Incremental construction of the generalized Voronoi graph," in Proc. IEEE Int. Conf. Robotics and Automation, Nagoya, Japan, 1995, pp. 1643-1648.
6. H. Choset, I. Konukseven, and A. Rizzi, "Sensorbased planning: A control law for generating the generalized Voronoi graph," in Proc. IEEE Int. Conf. Robotics and Automation, Monterey, CA, 1997.
7. J. L. Crowley, "Navigation for an intelligent mobile robot," IEEE J. Robot. Automat., vol. RA-1, no. 1, pp. 31-41, Mar. 1985.
8. G. Foux, M. Heymann, and A. Bruckstein, "Two-dimensional robot navigation among unknown stationary polygonal obstacles," IEEE Trans. Robot. Automat., vol. 9, no. 1, pp. 96-102, 1993.
9. E. Gat and G. Dorais, "Robot navigation by conditional sequencing," in Proc. IEEE Int. Conf. Robotics and Automation, San Diego, CA, May 1994, pp. 1293-1299.
10. S. S. Iyengar, C. C. Jorgensen, S. V. N. Rao, and C. R. Weisbin, "Robot navigation algorithm using learned spatial graphs," Robotica, vol. 4, pp. 93-100, 1986.
11. B. Kuipers and Y.-T. Byun, "A robot exploration and mapping strategy based on a semantic hierarchy of spatial representations," Robot. Auton. Syst., vol. 8, pp. 47-63, 1991.
12. V. Lumelsky and A. A. Stepanov, "Dynamic path planning for a mobile automaton with limited information on the environment," IEEE Trans. Automat. Contr., vol. AC-31, pp. 1058-1063, Nov. 1986.
13. _, "Path planning strategies for a point mobile automaton moving amidst unknown obstacles of arbitrary shapes," Algorithmica, vol. 2, pp. 403-430, 1987.
14. V. Lumelsky and T. Skewis, "Incorporating range sensing in the robot navigation function," IEEE Trans. Syst. Man Cyber., vol. 20, no. 5, pp. 1058-1069, 1990.
15. V. Lumelsky, S. Mukhopadhyay, and K. Sung, "Dynamic path planning in sensor-based terrain acquisition," IEEE Trans. Robot. Automat., vol. 6, no. 4, pp. 1058-1069, August 1990.
16. M. J. Mataric, "Integration of representation into goal-driven behavior-based robots," IEEE Trans. Robot. Automat., vol. 8, no. 3, pp. 304-312, 1992.
17. K. Mehlhorn and S. Näher, LEDA, A Platform for Combinatorial and Geometric Computing. Cambridge, U.K.: Cambridge University Press, 1999.
18. C. Ó'Dúnlaing and C. K. Yap, "A retraction method for planning the motion of a disc," in Planning, Geometry, and Complexity of Robot Motion, J. T. Schwartz, M. Sharir, and J. Hopcroft, Eds. Norwood, NJ: Ablex, 1986, pp. 187-192.
19. C. Ó'Dúnlaing, M. Sharir, and C. K. Yap, "Retraction: A new approach to motion-planning," in Planning, Geometry, and Complexity of Robot Motion, J. T. Schwartz, M. Sharir, and J. Hopcroft, Eds. Norwood, NJ: Ablex, 1986, pp. 193-213.
20. A. Okabe, B. Boots, and K. Sugihara, Spatial Tessellations Concepts and Applications of Voronoi Diagrams. Chichester, U.K.: Wiley, 1992.
21. B. J. Oomen, S. S. Iyengar, N. S. V. Rao, and R. L. Kashyap, "Robot navigation in unknown terrains using learned visibility graphs - Part I: The disjoint obstacles case," IEEE J. Robot. Automat., vol. 3, pp. 672-681, 1987.
22. F. P. Preparata and M. I. Shamos, Computational Geometry, An Introduction, 2nd ed. Berlin, Germany: Springer-Verlag, 1988.
23. N. S. V Rao and S. S. Iyengar, "Autonomous robot navigation in unknown terrains: Incidental learning and environmental exploration," IEEE Trans. Syst., Man, Cybern., vol. 20, no. 6, pp. 1443-1449, 1990.
24. N. S. V. Rao, N. Stolzfus, and S. S. Iyengar, "A 'retraction' method for learned navigation in unknown terrains," IEEE Trans. Robot. Automatn, vol. 7, no. 5, pp. 699-707, 1991.
25. N. S. V. Rao, S. Kareti, and S. S. Iyengar, "Robot navigation in unknown terrains: Introductory survey of nonheuristic algorithms," Oak Ridge Nat. Lab. Technical Report, Oak Ridge, TN, ORNL/TM-12410, July 1993.
26. N. S. V. Rao, "Robot navigation in unknown generalized polygonal terrains using vision sensors," IEEE Trans. Syst., Man, Cybern., vol. 25, pp. 947-962, June 1995.
27. E. Rimon and J. F. Canny, "Construction of c-space roadmaps from local sensory data: What should the sensors look for?," in Proc. IEEE Int. Conf. Robotics and Automation, San Diego, CA, 1994, pp. 117-123.
28. K. Sugihara, "Approximation of generalized Voronoi diagrams by ordinary Voronoi diagrams," CVGIP: Graph. Models Image Process., vol. 55, no. 6, pp. 522-531, 1993.
29. C. J. Taylor and D. J. Kriegman, "Vision-based motion planning and exploration algorithms for mobile robots," IEEE Trans. Robot. Automat., vol. 14, pp. 417-426, June 1998.