Mobile Robot Online Motion Planning Using Generalized Voronoi Graphs

Subject Areas : Design of Experiment

elips masehian ¹ , amin Naseri ²

1 - Tarbiat Modares University, Industrial Engineering Department, Tehran, Iran
2 - Tarbiat Modares University, Industrial Engineering Department, Tehran, Iran

Received: 2009-11-25 Accepted : 2009-11-20 Published : 2010-01-18

Keywords: Robot Motion planning, Voronoi Diagrams, Medial Axis, Sensor-based Navigation,

Abstract :

In this paper, a new online robot motion planner is developed for systematically exploring unknown environ¬ments by intelligent mobile robots in real-time applications. The algorithm takes advantage of sensory data to find an obstacle-free start-to-goal path. It does so by online calculation of the Generalized Voronoi Graph (GVG) of the free space, and utilizing a combination of depth-first and breadth-first searches on the GVG. The planner is equipped with components such as step generation and correction, backtracking, and loop handling. It is fast, simple, complete, and extendable to higher spaces.