ABSTRACT
A b stra c t The hierarchical generalized Voronoi graph (HGVG) is a roadmap that can serve as a basis for sensor based robot motion planning. A key feature of the HGVG is its incremental construction procedure that uses only line of sight distance information. This work describes basic properties of the HGVG and the procedure for its incremental construction using local range sensors. Simulations and experiments verify this approach.
