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Sensor-based exploration for planar two-identical-link robots

Title
Sensor-based exploration for planar two-identical-link robots
Author
이지영
Keywords
Two-identical-link mobile robots; sensor-based path planning; hierarchical generalized Voronoi graph; GENERALIZED-VORONOI-GRAPH; CONSTRUCTION
Issue Date
2015-12
Publisher
SAGE PUBLICATIONS LTD
Citation
PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE, v. 230, No. 4, Page. 655-664
Abstract
We present a new roadmap based on a generalized Voronoi graph for two-identical-link mobile robots to explore an unknown planar environment. It is called the L-2-generalized Voronoi graph and is defined in terms of workspace distance measurements using only sensor-provided information, with the robot having the maximum distance from obstacles, and is therefore optimum in a point of view for exploration and obstacle avoidance. The configuration of the robot possesses four degrees of freedom, and hence the roadmap is one-dimensional in an unknown configuration space 2xT2. The L-2-generalized Voronoi graph is not always connected, and so is connected with an additional structure called the (LR)-R-2-edge, where the robot is tangent to a GVD structure with the same orientation for the two links. This roadmap is termed L-2 hierarchical generalized Voronoi graph. The L-2 hierarchical generalized Voronoi graph includes two structures: the L-2 hierarchical generalized Voronoi graph and the (LR)-R-2 edge. Although the condition of two identical links looks somewhat constraining, the L-2 hierarchical generalized Voronoi graph is still worth pursuing because the case is very common in the engineering environment.
URI
http://journals.sagepub.com/doi/abs/10.1177/0954406215618684http://hdl.handle.net/20.500.11754/46395
ISSN
0954-4062; 2041-2983
DOI
10.1177/0954406215618684
Appears in Collections:
COLLEGE OF ENGINEERING SCIENCES[E](공학대학) > ROBOT ENGINEERING(로봇공학과) > Articles
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