The robust construction of a generalized Voronoi graph (GVG) using partial range data for guide robots
SCIE
SCOPUS
- Title
- The robust construction of a generalized Voronoi graph (GVG) using partial range data for guide robots
- Authors
- Ahn, S; Doh, NL; Ghung, WK; Nam, SY
- Date Issued
- 2008-05
- Publisher
- EMERALD GROUP PUBLISHING LIMITED
- Abstract
- Purpose - The purpose of this paper is to describe research to enable a robust navigation of guide robots in erratic environments with partial sensor information. Design/methodology/approach - Two techniques were developed. One is a robust node discrimination method by using an adaptive sensor matching method. The other is a robot navigation technique with partial sensor information. Findings - A successful navigation was implemented in erratic environments using partial sensor information. Originality/value - First robot navigation is addressed along the generalized Voronoi graph (GVG) with partial sensor information. A solution is also provided for a phantom node detection problem, which is one of the main defects in GVG navigation.
- Keywords
- robotics; navigation; sensors; data analysis; SENSOR-BASED EXPLORATION; INCREMENTAL CONSTRUCTION; LOCALIZATION
- URI
- https://oasis.postech.ac.kr/handle/2014.oak/29096
- DOI
- 10.1108/01439910810868598
- ISSN
- 0143-991X
- Article Type
- Article
- Citation
- INDUSTRIAL ROBOT-AN INTERNATIONAL JOURNAL, vol. 35, no. 3, page. 259 - 265, 2008-05
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- There are no files associated with this item.
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