TY  - JOUR
AB  - 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.
VL  - 35
IS  - 3
SN  - 0143-991X
DO  - 10.1108/01439910810868598
UR  - https://doi.org/10.1108/01439910810868598
AU  - Ahn Sunghwan
AU  - Lett Doh Nakju
AU  - Kyun Chung Wan
AU  - Yep Nam Sang
ED  - Brian Bridge
PY  - 2008
Y1  - 2008/01/01
TI  - The robust construction of a generalized Voronoi graph (GVG) using partial range data for guide robots
T2  - Industrial Robot: An International Journal
PB  - Emerald Group Publishing Limited
SP  - 259
EP  - 265
Y2  - 2024/04/16
ER  -