Cart (Loading....) | Create Account
Close category search window

Toward robust sensor based exploration by constructing reduced generalized Voronoi graph

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Keiji Nagatani, ; Dept. of Mech. Eng., Carnegie Mellon Univ., Pittsburgh, PA, USA ; Choset, H.

Considers sensor based mobile robot exploration in an unknown indoor environment. One of the big problems in this area is positioning error. To deal with this problem in the exploration task, we proposed a localization method using a partially constructed topological map termed the generalized Voronoi graph (GVG). The GVG-based method performed successfully in some large scale indoor environments, but had problems resulting from poor sensing ability of the sixteen sonar sensors on-board the robot. The poor sensing ability was particularly deleterious at geometric structures in the GVG that were “unstable.” To solve the problem, we adopted “the Reduced Generalized Voronoi Graph (RGVG)” for the exploration map instead of the original GVG. The RGVG is a stable subset of the GVG and is sufficient for motion planning. To enable realistic and reliable exploration using the RGVG structure, we developed an edge matching procedure for topology matching. In this paper, we introduce the RGVG structure and the edge matching procedure for robust exploration. Experimental results verify the described work

Published in:

Intelligent Robots and Systems, 1999. IROS '99. Proceedings. 1999 IEEE/RSJ International Conference on  (Volume:3 )

Date of Conference:


Need Help?

IEEE Advancing Technology for Humanity About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies

A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2014 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.