Toward robust sensor based exploration by constructing Reduced Generalized Voronoi Graph

Keiji Nagatani, Howie Choset

Research output: Contribution to conferencePaper

54 Citations (Scopus)

Abstract

Our research 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 had 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 'Reduced Generalized Voronoi Graph (RGVG)' for exploration map instead of original GVG. The RGVG is a stable subset of the GVG and is sufficient for motion planning. To enable realistic and reliable exploration using 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.

Original languageEnglish
Pages1687-1692
Number of pages6
Publication statusPublished - 1999 Dec 1
Event1999 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'99): Human and Environment Friendly Robots whith High Intelligence and Emotional Quotients' - Kyongju, South Korea
Duration: 1999 Oct 171999 Oct 21

Other

Other1999 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'99): Human and Environment Friendly Robots whith High Intelligence and Emotional Quotients'
CityKyongju, South Korea
Period99/10/1799/10/21

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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  • Cite this

    Nagatani, K., & Choset, H. (1999). Toward robust sensor based exploration by constructing Reduced Generalized Voronoi Graph. 1687-1692. Paper presented at 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'99): Human and Environment Friendly Robots whith High Intelligence and Emotional Quotients', Kyongju, South Korea, .