Mobile robot navigation: Implementing the GVG in the presence of sharp corners

Date

1996-01-01

Author

Konukseven, Erhan İlhan

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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.

URI

https://hdl.handle.net/11511/55104

Conference Name

1997 IEEE/RSJ International Conference on Intelligent Robot and Systems - Innovative Robotics for Real-World Applications (IROS 97)

Collections

Department of Mechanical Engineering, Conference / Seminar

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Citation Formats

E. İ. Konukseven, “Mobile robot navigation: Implementing the GVG in the presence of sharp corners,” presented at the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems - Innovative Robotics for Real-World Applications (IROS 97), Grenoble, FRANCE, 1996, Accessed: 00, 2020. [Online]. Available: https://hdl.handle.net/11511/55104.