Incremental and Robust Construction of Generalized Voronoi Graph (GVG) for Mobile Guide Robot

Sunghwan Ahn; Nakju Lett Doh; Kyoung Min Lee; Wan Kyun Chung

Incremental and Robust Construction of Generalized Voronoi Graph (GVG) for Mobile Guide Robot

Sunghwan Ahn, Nakju Lett Doh, Kyoung Min Lee, Wan Kyun Chung

Research output: Contribution to conference › Paper › peer-review

Abstract

GVG has been effectively used as a sensor based navigation tool using 360° sensor data. For mobile guide robot applications, however, we can only use 180° sensor data and the robustness of the navigation algorithm is critical for successful applications. For that purpose, the robot should be equipped with three capabilities. Those are 1) incremental GVG construction, 2) robust GVG navigation and 3) navigation strategy that just uses half of the sensor scan, i.e. 180°. In this paper, we propose a GVG navigation algorithm that has above 3 capabilities. We firstly propose a method that can estimate the invisible 180° range from previous range data. Moreover, we suggest a way of robust GVG navigation algorithm by using a sensor data matching technique. The simulation result validates that the proposed algorithm can incrementally and robustly navigate the semi-unstructured map by using 180° sensor scan.

Original language	English
Pages	3757-3762
Number of pages	6
Publication status	Published - 2003
Externally published	Yes
Event	2003 IEEE/RSJ International Conference on Intelligent Robots and Systems - Las Vegas, NV, United States Duration: 2003 Oct 27 → 2003 Oct 31

Other

Other	2003 IEEE/RSJ International Conference on Intelligent Robots and Systems
Country/Territory	United States
City	Las Vegas, NV
Period	03/10/27 → 03/10/31

ASJC Scopus subject areas

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

Cite this

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title = "Incremental and Robust Construction of Generalized Voronoi Graph (GVG) for Mobile Guide Robot",

abstract = "GVG has been effectively used as a sensor based navigation tool using 360° sensor data. For mobile guide robot applications, however, we can only use 180° sensor data and the robustness of the navigation algorithm is critical for successful applications. For that purpose, the robot should be equipped with three capabilities. Those are 1) incremental GVG construction, 2) robust GVG navigation and 3) navigation strategy that just uses half of the sensor scan, i.e. 180°. In this paper, we propose a GVG navigation algorithm that has above 3 capabilities. We firstly propose a method that can estimate the invisible 180° range from previous range data. Moreover, we suggest a way of robust GVG navigation algorithm by using a sensor data matching technique. The simulation result validates that the proposed algorithm can incrementally and robustly navigate the semi-unstructured map by using 180° sensor scan.",

author = "Sunghwan Ahn and Doh, {Nakju Lett} and Lee, {Kyoung Min} and Chung, {Wan Kyun}",

year = "2003",

language = "English",

pages = "3757--3762",

note = "2003 IEEE/RSJ International Conference on Intelligent Robots and Systems ; Conference date: 27-10-2003 Through 31-10-2003",

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T1 - Incremental and Robust Construction of Generalized Voronoi Graph (GVG) for Mobile Guide Robot

AU - Ahn, Sunghwan

AU - Doh, Nakju Lett

AU - Lee, Kyoung Min

AU - Chung, Wan Kyun

PY - 2003

Y1 - 2003

N2 - GVG has been effectively used as a sensor based navigation tool using 360° sensor data. For mobile guide robot applications, however, we can only use 180° sensor data and the robustness of the navigation algorithm is critical for successful applications. For that purpose, the robot should be equipped with three capabilities. Those are 1) incremental GVG construction, 2) robust GVG navigation and 3) navigation strategy that just uses half of the sensor scan, i.e. 180°. In this paper, we propose a GVG navigation algorithm that has above 3 capabilities. We firstly propose a method that can estimate the invisible 180° range from previous range data. Moreover, we suggest a way of robust GVG navigation algorithm by using a sensor data matching technique. The simulation result validates that the proposed algorithm can incrementally and robustly navigate the semi-unstructured map by using 180° sensor scan.

AB - GVG has been effectively used as a sensor based navigation tool using 360° sensor data. For mobile guide robot applications, however, we can only use 180° sensor data and the robustness of the navigation algorithm is critical for successful applications. For that purpose, the robot should be equipped with three capabilities. Those are 1) incremental GVG construction, 2) robust GVG navigation and 3) navigation strategy that just uses half of the sensor scan, i.e. 180°. In this paper, we propose a GVG navigation algorithm that has above 3 capabilities. We firstly propose a method that can estimate the invisible 180° range from previous range data. Moreover, we suggest a way of robust GVG navigation algorithm by using a sensor data matching technique. The simulation result validates that the proposed algorithm can incrementally and robustly navigate the semi-unstructured map by using 180° sensor scan.

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T2 - 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems

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ER -

Incremental and Robust Construction of Generalized Voronoi Graph (GVG) for Mobile Guide Robot

Abstract

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ASJC Scopus subject areas

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