Author/Editor		Mahkovic, R; Slivnik, T
Title		Generalized local Voronoi diagram of visible region
Type		članek
Source		In: Proceedings of the 1998 IEEE international conference on robotics and automation. Vol 1. Vol 2. Vol 3. Vol 4; 1998 May 16-20; Leuven, Belgium. Piscataway: IEEE,
Publication year		1998
Volume		str. 349-55
Language		eng
Abstract		A cincular robot in unknown environment, populated by non-overlapping obstacles is considered. The robot is equipped with a discnete scanner, e.g. laser range scanner. We present a new method for local construction of a one-dimensional structure, similar to generalized Voronoi diagram. We call this structure a Generalized Local Vomnoi Diagram, GLVD. GLVD is constructed from scan points of the visible region around the robot. We showed that GLVD partly matches, within the tolerances determined by the uncertainties of the scan points, the genenalized Voronoi diagram generated by the free form obstacles. The existence of a function, which groups the scan points into appropriate clusters, is required. The typical results of the experiments, conducted in the laboratory using SICK's laser range scanner PLS200, are presented.
Descriptors		ROBOTICS PATTERN RECOGNITION