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

Industrial Robot - Tập 35 Số 3 - Trang 259-265 - 2008
SunghwanAhn1, NakjuLett Doh2, WanKyun Chung1, SangYep Nam3
1Robotics and Bio‐mechatronics Laboratory, Mechanical Engineering, POSTECH, Pohang, South Korea
2Robotics Laboratory, School of Electrical Engineering, Korea University, Seoul, Korea
3Department of Information and Communication, Kyungmoon College, Kyeongki, South Korea

Tóm tắt

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.

Từ khóa


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Industrial Robot

Tập 35 Số 3

259-265

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