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

KONUKSEVEN E. İ. , Choset H.

1997 IEEE/RSJ International Conference on Intelligent Robot and Systems - Innovative Robotics for Real-World Applications (IROS 97), Grenoble, France, 7 - 11 September 1997, pp.1218-1223 identifier

  • Publication Type: Conference Paper / Full Text
  • Volume:
  • City: Grenoble
  • Country: France
  • Page Numbers: pp.1218-1223
  • Middle East Technical University Affiliated: No


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.