An exploration strategy by constructing Voronoi Diagrams with provable completeness
Author(s)
Advisor(s)
Editor(s)
Collections
Supplementary to:
Permanent Link
Abstract
We present novel exploration algorithms and a
control law that enable the construction of Voronoi diagrams
over unknown areas using a single autonomous vehicle equipped
with range sensors. Our control law and exploration algorithms
are provably complete. The control law uses range
measurements to enable tracking Voronoi edges between two
obstacles. Exploration algorithms make decisions at vertices
of the Voronoi diagram to expand the explored area until
a complete Voronoi diagram is constructed in finite time.
MATLAB simulation results are provided to demonstrate the
effectiveness of both the control law and the exploration
algorithms.
Sponsor
Date
2009-12
Extent
Resource Type
Text
Resource Subtype
Article
Proceedings
Proceedings