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.


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    Title :

    Autonomous mobile robot exploration based on the generalized Voronoi graph in the presence of localization error


    Contributors:

    Conference:

    Mobile Robots XIII and Intelligent Transportation Systems ; 1998 ; Boston,MA,USA


    Published in:

    Publication date :

    1999-01-08





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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