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

Sunghwan Ahn (Robotics and Bio‐mechatronics Laboratory, Mechanical Engineering, POSTECH, Pohang, South Korea)
Nakju Lett Doh (Robotics Laboratory, School of Electrical Engineering, Korea University, Seoul, Korea)
Wan Kyun Chung (Robotics and Bio‐mechatronics Laboratory, Mechanical Engineering, POSTECH, Pohang, South Korea)
Sang Yep Nam (Department of Information and Communication, Kyungmoon College, Kyeongki, South Korea)

Industrial Robot

ISSN: 0143-991x

Article publication date: 2 May 2008

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

Citation

Ahn, S., Lett Doh, N., Kyun Chung, W. and Yep Nam, S. (2008), "The robust construction of a generalized Voronoi graph (GVG) using partial range data for guide robots", Industrial Robot, Vol. 35 No. 3, pp. 259-265. https://doi.org/10.1108/01439910810868598

Publisher

:

Emerald Group Publishing Limited

Copyright © 2008, Emerald Group Publishing Limited