Autonomous mobile robot exploration based on the generalized Voronoi graph in the presence of localization error

Keiji Nagatani, Howie Choset

Research output: Contribution to journalConference articlepeer-review

Abstract

Sensor based exploration is a task which enables a robot to explore and map an unknown environment, using sensor information. The map used in this paper is the generalized Voronoi graph (GVG). The robot explores an unknown environment using an already developed incremental construction procedure to generate the GVG using sensor information. This paper presents some initial results which uses the GVG for robot localization, while mitigating the need to update encoder values. Experimental results verify the described work.

Original languageEnglish
Pages (from-to)192-203
Number of pages12
JournalProceedings of SPIE - The International Society for Optical Engineering
Volume3525
Publication statusPublished - 1998 Dec 1

ASJC Scopus subject areas

  • Electronic, Optical and Magnetic Materials
  • Condensed Matter Physics
  • Computer Science Applications
  • Applied Mathematics
  • Electrical and Electronic Engineering

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