完整後設資料紀錄
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dc.contributor.authorCHEN, Zen_US
dc.contributor.authorHUANG, CMen_US
dc.date.accessioned2014-12-08T15:04:14Z-
dc.date.available2014-12-08T15:04:14Z-
dc.date.issued1994-01-01en_US
dc.identifier.issn0263-5747en_US
dc.identifier.urihttp://hdl.handle.net/11536/2736-
dc.description.abstractThe problem of incremental terrain acquisition is addressed in this paper. Through a systematic planning of movements in an unknown terrain filled with polygonal obstacles, a sensor-based robot is shown to be able to incrementally build the entire terrain model; the model will be described in terms of visibility graph and visibility window. The terrain model is built area by area without any overlapping between explored areas. As a consequence, the terrain is obtained as a tessellation of disjoint star polygons. And the adjacency relations between star polygons are represented by a star polygon adjacency graph (SPAG graph). The incremental exploration process consists of two basic tasks: local exploration and exploration merging. Useful lemmas are derived for these two tasks and, then, the algorithms for the tasks are given. Examples are used to illustrate the algorithms. Two strategies for planning robot movements in the unknown terrain environment are suggested and compared. They are the depth-first search and the breadth-first search applied to the SPAG graph. Finally, the performance evaluation of the method and comparison with some existing methods are presented.en_US
dc.language.isoen_USen_US
dc.subjectTERRAIN EXPLORATIONen_US
dc.subjectVISIBILITY GRAPHen_US
dc.subjectVISIBILITY WINDOWen_US
dc.subjectSTAR POLYGONen_US
dc.subjectEXPLORATION UPDATINGen_US
dc.subjectEXPLORATION STRATEGIESen_US
dc.titleTERRAIN EXPLORATION OF A SENSOR-BASED ROBOT MOVING AMONG UNKNOWN OBSTACLES OF POLYGONAL SHAPEen_US
dc.typeArticleen_US
dc.identifier.journalROBOTICAen_US
dc.citation.volume12en_US
dc.citation.issueen_US
dc.citation.spage33en_US
dc.citation.epage44en_US
dc.contributor.department交大名義發表zh_TW
dc.contributor.department資訊科學與工程研究所zh_TW
dc.contributor.departmentNational Chiao Tung Universityen_US
dc.contributor.departmentInstitute of Computer Science and Engineeringen_US
dc.identifier.wosnumberWOS:A1994MZ10800005-
dc.citation.woscount4-
顯示於類別:期刊論文