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

Source: Industrial Robot: An International Journal, Volume 35, Number 3, 2008 , pp. 259-265(7)

Publisher: Emerald Group Publishing Limited

Abstract:

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

Keywords: Data analysis; Navigation; Robotics; Sensors

Document Type: Research article

DOI: http://dx.doi.org/10.1108/01439910810868598

Publication date: 2008-05-02

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