Sensor-Based Path Planning: The Two-identical-link Hierarchical Generalized Voronoi Graph
文献类型：期刊论文
| 作者 | Minglei Shao; Jiyeong Lee; Changsoo Han; Kyoosik Shin |
| 刊名 | Journal of precision engineering and manufacturing
 |
| 出版日期 | 2015 |
| 英文摘要 | We present a new roadmap based on a generalized Voronoi graph (GVG) for two-identical-link ( L2) robots to explore an unknown planar environment. It is called the L2 hierarchical generalized Voronoi graph (L2-HGVG). The L2 robot is formed by two equal length rods and a revolute joint between them. The configuration of the robot possesses four degree-of-freedom, two for position and two for orientation, and hence the roadmap is one-dimensional in an unknown configuration space ¡2 × T2. L2-HGVG is defined in terms of workspace distance measurements using only sensor information without prior knowledge of the environment, with the robot having the maximum distance from obstacles, and is therefore optimum in a point of view for exploration and obstacle avoidance. |
| 收录类别 | SCI |
| 原文出处 | http://xueshu.baidu.com/s?wd=paperuri%3A%28564556cb7b50bc07ca6a76bceb67ca3e%29&filter=sc_long_sign&tn=SE_xueshusource_2kduw22v&sc_vurl=http%3A%2F%2Flink.springer.com%2F10.1007%2Fs12541-015-0245-4&ie=utf-8 |
| 语种 | 英语 |
| 源URL | [http://ir.siat.ac.cn:8080/handle/172644/7557]  |
| 专题 | 深圳先进技术研究院_南沙所 |
| 作者单位 | Journal of precision engineering and manufacturing |
| 推荐引用方式 GB/T 7714 | Minglei Shao,Jiyeong Lee,Changsoo Han,et al. Sensor-Based Path Planning: The Two-identical-link Hierarchical Generalized Voronoi Graph[J]. Journal of precision engineering and manufacturing,2015. |
| APA | Minglei Shao,Jiyeong Lee,Changsoo Han,&Kyoosik Shin.(2015).Sensor-Based Path Planning: The Two-identical-link Hierarchical Generalized Voronoi Graph.Journal of precision engineering and manufacturing. |
| MLA | Minglei Shao,et al."Sensor-Based Path Planning: The Two-identical-link Hierarchical Generalized Voronoi Graph".Journal of precision engineering and manufacturing (2015). |
入库方式： OAI收割
来源：深圳先进技术研究院
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