Mobile Robot Navigation: Implementing the GVG in the Presence of Sharp Corners

Ilhan Konukseven and Howie Choset
Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '97), September, 1997, pp. 1218 - 1223.


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Abstract
A robot can explore an unknown environment by incrementally constructing a roadmap of that environment using line of sight sensor information. Recall that a roadmap is a one-dimensional representation of a robot's environment. This paper addresses one problem that occurs while generating a roadmap: what happens when sonar sensors cannot detect sharp objects because of the specularities? To do this, a new sensor model is combined with an already existing incremental construction procedure for a roadmap. Experiments on a mobile robot validate the results of this paper. A generalised Voronoi graph is used.

Notes

Text Reference
Ilhan Konukseven and Howie Choset, "Mobile Robot Navigation: Implementing the GVG in the Presence of Sharp Corners," Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '97), September, 1997, pp. 1218 - 1223.

BibTeX Reference
@inproceedings{Choset_1997_1413,
   author = "Ilhan Konukseven and Howie Choset",
   title = "Mobile Robot Navigation: Implementing the GVG in the Presence of Sharp Corners",
   booktitle = "Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '97)",
   pages = "1218 - 1223",
   month = "September",
   year = "1997",
   volume = "3",
}