A novel and effective method denoted circle sector expansion (CSE) is presented that can be used to generate reduced Voronoi diagrams. It is intuitive and can be used to efficiently compute possible paths for a vehicle. The idea is to model free space instead of the features in the environment. It is easy to implement and can be used while a vehicle moves and collects new data of its surrounding. The method is directly applicable and has properties for fast computations of safety margins while at the same time having low complexity. We have successfully implemented the algorithm and its methods and performed real-life tests using an autonomous wheelchair equipped with a range scanning laser, a rate gyro, and wheel-encoders. Tests showed good results for supporting the use of CSE. The results are applicable for example to improve assistive technology for wheelchair users. ; Godkänd; 2006; 20061228 (ysko) ; CASTT - Centre for Automotive Systems Technologies and Testing


    Access

    Download


    Export, share and cite



    Title :

    Circle sector expansions for on-line exploration


    Contributors:

    Publication date :

    2006-01-01



    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    Classification :

    DDC:    629



    Stochastic Expansions Including Data on the Unit Circle

    Jones, Brandon A. / Balducci, Marc | AIAA | 2019


    HAEC LUNA: HUMAN ACTUATION AND EXPLORATION CIRCLE

    Graziano, Mariella / Gandia, Fernando / Kisdi, Aron | TIBKAT | 2022


    Singapore's Circle Line opens

    British Library Online Contents | 2009


    Singapore Circle Line extended

    British Library Online Contents | 2010


    A circle line for Washington?

    Allan, Stanley | IuD Bahn | 1995