The robust construction of a generalized Voronoi graph GVG using partial range data for guide robots

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. Designmethodologyapproach Two techniques were developed. One is a robust node discrimination method by using an adaptive sensor matching me...

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Bibliographic Details
Published in:Industrial robot 2008-05, Vol.35 (3), p.259-265
Main Authors: Ahn, Sunghwan, Lett Doh, Nakju, Kyun Chung, Wan, Yep Nam, Sang
Format: Article
Language:English
Subjects:
Data analysis
Navigation
Robotics
Sensors
Online Access:Get full text
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Summary: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. Designmethodologyapproach 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. Originalityvalue 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.
ISSN:0143-991X
DOI:10.1108/01439910810868598