Paper abstract

 Title:  Sensor Based Planning for a Rod Robot
 Authors:  H. Choset and J. Burdick
 In :  Proc. IEEE Int. Conf. on Robotics and Automation, 1996.

ABSTRACT

This work considers sensor based motion planning for a rod-like robot moving in a planar environment. We introduce a network of curves termed the {\em Rod Hierarchical Generalized Voronoi Graph} (rod-HGVG) which is a roadmap for the rod-like robot. This roadmap can be incrementally constructed using distance range information. This planning paradigm is an extension of previous work on sensor based planning for point robots.