The robust construction of a generalized Voronoi graph (GVG) using partial range data for guide robots

Sunghwan Ahn, Nakju Lett Doh, Wan Kyun Chung, Sang Yep Nam

Research output: Contribution to journalArticle

5 Citations (Scopus)


Purpose - The purpose of this paper is to describe research to enable a robust navigation of guide robots in erratic environments with partial sensor information. Design/methodology/approach - 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. Findings - A successful navigation was implemented in erratic environments using partial sensor information. Originality/value - 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.

Original languageEnglish
Pages (from-to)259-265
Number of pages7
JournalIndustrial Robot
Issue number3
Publication statusPublished - 2008 May 1



  • Data analysis
  • Navigation
  • Robotics
  • Sensors

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Industrial and Manufacturing Engineering

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