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

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.

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