The robust construction of a generalized Voronoi graph (GVG) using partial range data for guide robots-Reference-Cited by-同舟云学术

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

Published:2008-05-02 Issue:3 Volume:35 Page:259-265
ISSN:0143-991X
Container-title:Industrial Robot: An International Journal
language:en
Short-container-title:

Author:

Ahn Sunghwan,Lett Doh Nakju,Kyun Chung Wan,Yep Nam Sang

Abstract

PurposeThe 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/approachTwo 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.FindingsA successful navigation was implemented in erratic environments using partial sensor information.Originality/valueFirst 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.

Publisher

Emerald

Subject

Industrial and Manufacturing Engineering,Computer Science Applications,Control and Systems Engineering

Reference15 articles.

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