Title:
A provably complete exploration strategy by constructing Voronoi diagrams
A provably complete exploration strategy by constructing Voronoi diagrams
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Author(s)
Kim, Jonghoek
Zhang, Fumin
Egerstedt, Magnus B.
Zhang, Fumin
Egerstedt, Magnus B.
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Abstract
We present novel exploration algorithms and
a control law that enables the construction of Voronoi
diagrams over unknown areas using a single vehicle
equipped with range sensors. The control law uses range
measurements to make the vehicle track Voronoi edges
between obstacles. The exploration algorithms make
decisions at vertices in the Voronoi diagram to expand
the explored area until a complete Voronoi diagram is
constructed in finite time. Our exploration algorithms
are provably complete, and the convergence of the control
law is guaranteed. Simulations and experimental
results are provided to demonstrate the effectiveness of
both the control law and the exploration algorithms.
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Date Issued
2010
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Text
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Post-print