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The International Journal of Robotics Research
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Sensor-Based Exploration: Incremental Construction of the Hierarchical Generalized Voronoi Graph

Howie Choset

Carnegie Mellon University, Scaife Hall, Pittsburgh, Pennsylvania 15213 USAchoset{at}cs.cmu.edu

Sean Walker

Kunnayut Eiamsa-Ard

Carnegie Mellon University, Scaife Hall, Pittsburgh, Pennsylvania 15213 USA

Joel Burdick

California Institute of Technology, Mail Code 104-44, Pasadena, California 91125 USA

This paper prescribes an incremental procedure to construct roadmaps of unknown environments. Recall that a roadmap is a geometric structure that a robot uses to plan a path between two points in an environment. If the robot knows the roadmap, then it knows the environment. Likewise, if the robot constructs the roadmap, then it has effectively explored the environment. This paper focuses on the hierarchical generalized Voronoi graph (HGVG), detailed in the companion paper in this issue. The incremental construction procedure of the HGVG requires only local distance sensor measurements, and therefore the method can be used as a basis for sensor-based planning algorithms. Simulations and experiments using a mobile robot with ultrasonic sensors verify this approach.

The International Journal of Robotics Research, Vol. 19, No. 2, 126-148 (2000)
DOI: 10.1177/02783640022066789
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This article has been cited by other articles:


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 The International Journal of Robotics ResearchHome page
B. Barshan
Directional Processing of Ultrasonic Arc Maps and its Comparison with Existing Techniques
The International Journal of Robotics Research, August 1, 2007; 26(8): 797 - 820.
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 The International Journal of Robotics ResearchHome page
J. Y. Lee and H. Choset
Sensor-based Planning for a Rod-shaped Robot in Three Dimensions: Piecewise Retracts of R3 x S2
The International Journal of Robotics Research, May 1, 2005; 24(5): 343 - 383.
[Abstract] [PDF]