Sensor Based Planing, Part I: The Generalized Voronoi Graph

Howie Choset, Joel W. Burdick

Abstract: This paper prescribes an incremental procedure to construct the generalized Voronoi graph (GVG) and the hierarchical generalized Voronoi graph (HGVG) detailed in the companion paper. The procedure requires only local distance sensor measurements, and therefore the method can be used as a basis for sensor based planning algorithms.