Robust Navigation Techniques for The GVG-based SLAM in Unstructured Environment
| Authors: | Ahn Sunghwan, Pohang University of Science and Technology (POSTECH), Korea, Republic of
Lett Doh Nakju, Pohang University of Science and Technology (POSTECH), Korea, Republic of
Kyun Chung Wan, Pohang University of Science and Technology (POSTECH), Korea, Republic of |
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| Topic: | 4.3 Robotics |
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| Session: | Guidance, Navigation, and Control of Robots |
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| Keywords: | Mobile robots, Topological localization, Generalized Voronoi Graph(GVG), Node matching. |
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Abstract
The Generalized Voronoi Graph (GVG) has been effectively used forthe SLAM and navigation of mobile robots. Since the mobile robotshould perform the GVG-based SLAM and navigation in unstructuredenvironments using inaccurate noisy sensors, it requires accuratedata association and robust navigation techniques. In this paper,we suggest three techniques for a robust construction of the GVG.The first one is a robust node matching technique and the secondone is an adaptable sensor area matching method for the robustexploration. Finally we propose a technique which is capable ofdistinguishing between closely located nodes. The simulationresults show that the proposed algorithm can work successfullyunder 20% errors of odometry and range sensor in unstructuredenvironment. Copyright © 2005 IFAC
