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

被引：5
|
作者：
Ahn, Sunghwan [1 ]
Doh, Nakju Lett [2 ]
Ghung, Wan Kyun [1 ]
Nam, Sang Yep [3 ]
机构：
[1] POSTECH, Robot & Biomech Lab, Pohang, South Korea
[2] Korea Univ, Sch Elect Engn, Robot Lab, Seoul, South Korea
[3] Kyungmoon Coll, Dept Informat & Commun, Kyeongki, South Korea
来源：
INDUSTRIAL ROBOT-THE INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH AND APPLICATION | 2008年 / 35卷 / 03期
关键词：
robotics; navigation; sensors; data analysis;
D O I：
10.1108/01439910810868598
中图分类号：
T [工业技术];
学科分类号：
08 ;
摘要：
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.
引用
收藏
页码：259 / 265
页数：7
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