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

Keiji Nagatani; Howie M. Choset

doi:10.1117/12.335698

8 January 1999 Autonomous mobile robot exploration based on the generalized Voronoi graph in the presence of localization error

Keiji Nagatani, Howie M. Choset

Author Affiliations +

Proceedings Volume 3525, Mobile Robots XIII and Intelligent Transportation Systems; (1999) https://doi.org/10.1117/12.335698
Event: Photonics East (ISAM, VVDC, IEMB), 1998, Boston, MA, United States

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 result verify the described work.

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Keiji Nagatani and Howie M. Choset "Autonomous mobile robot exploration based on the generalized Voronoi graph in the presence of localization error", Proc. SPIE 3525, Mobile Robots XIII and Intelligent Transportation Systems, (8 January 1999); https://doi.org/10.1117/12.335698

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