Sensor based exploration is a task which enables a robot to explore and map an unknown environment, using sensor information. The map used in this paper is the generalized Voronoi graph (GVG). The robot explores an unknown environment using an already developed incremental construction procedure to generate the GVG using sensor information. This paper presents some initial results which uses the GVG for robot localization, while mitigating the need to update encoder values. Experimental result verify the described work.
Autonomous mobile robot exploration based on the generalized Voronoi graph in the presence of localization error
Mobile Robots XIII and Intelligent Transportation Systems ; 1998 ; Boston,MA,USA
Proc. SPIE ; 3525
1999-01-08
Conference paper
Electronic Resource
English
British Library Conference Proceedings | 1998
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