Search results

The purpose of this paper is to describe research to enable a robust navigation of guide robots in erratic environments with partial sensor information.

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.

A successful navigation was implemented in erratic environments using partial sensor information.

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.

The paper's purpose is to propose a localization algorithm for topological maps constituted by nodes and edges in a graph form. The focus is to develop a robust localization algorithm that works well even under various dynamic noises.

For robust localization, the authors propose an algorithm which utilizes all available data such as node information, sensor measurements at the current time step (which are used in previous algorithms) and edge information, and sensor measurements at previous time steps (which have not been considered in other papers). Also, the algorithm estimates a robot's location in a multi‐modal manner which increases its robustness.

Findings show that the proposed algorithm works well in topological maps with various dynamics which are induced by the moving objects in the map and measurement noises from cheap sensors.

Unlike previous approaches, the proposed algorithm has three key features: usage of edge data, inclusion of history information, and a multi‐modal based approach. By virtue of these features, the paper develops an algorithm that enables robust localization performance.