Mobile Robot Navigation: Implementing the GVG in the Presence of Sharp Corners - Robotics Institute Carnegie Mellon University

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

Ilhan Konukseven and Howie Choset
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, Vol. 3, pp. 1218 - 1223, September, 1997

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.

BibTeX

@conference{Konukseven-1997-14465,
author = {Ilhan Konukseven and Howie Choset},
title = {Mobile Robot Navigation: Implementing the GVG in the Presence of Sharp Corners},
booktitle = {Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems},
year = {1997},
month = {September},
volume = {3},
pages = {1218 - 1223},
}