Robust navigation techniques for the GVG-based slam in unstructured environment

Sunghwan Ahn, Nakju Lett Doh, Wan Kyun Chung

Research output: Chapter in Book/Report/Conference proceedingConference contribution


The Generalized Voronoi Graph (GVG) has been effectively used for the SLAM and navigation of mobile robots. Since the mobile robot should perform the GVG-based SLAM and navigation in unstructured environments using inaccurate noisy sensors, it requires accurate data 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 second one is an adaptable sensor area matching method for the robust exploration. Finally we propose a technique which is capable of distinguishing between closely located nodes. The simulation results show that the proposed algorithm can work successfully under 20% errors of odometry and range sensor in unstructured environment.

Original languageEnglish
Title of host publicationProceedings of the 16th IFAC World Congress, IFAC 2005
PublisherIFAC Secretariat
Number of pages6
ISBN (Print)008045108X, 9780080451084
Publication statusPublished - 2005
Externally publishedYes

Publication series

NameIFAC Proceedings Volumes (IFAC-PapersOnline)
ISSN (Print)1474-6670

Bibliographical note

Funding Information:
1 This research was supported by the National Research Laboratory (NRL) Program(M1-0302-00-0040) of the Ministry of Science & Technology, Republic of Korea.

Copyright 2021 Elsevier B.V., All rights reserved.


  • Generalized Voronoi Graph (GVG)
  • Mobile robots
  • Node matching
  • Topological localization

ASJC Scopus subject areas

  • Control and Systems Engineering


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