Abstract Considers sensor based mobile robot exploration in an unknown indoor environment. One of the big problems in this area is positioning error. The RGVG is a stable subset of the GVG and is sufficient for motion planning. To enable realistic and reliable exploration using the RGVG structure, we developed an edge matching procedure for topology matching. In this paper, we introduce the RGVG structure and the edge matching procedure for robust exploration.
Experimental results verify the described work.
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