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ICRA
2007
IEEE

Locally Computable Navigation Functions for Sphere Worlds

10 years 4 months ago
Locally Computable Navigation Functions for Sphere Worlds
Abstract— In this paper we present a new Navigation Function for a sphere world that can be computed locally with limited knowledge of the environment. By requiring smooth and not analytic NF, the effect of each obstacle is exactly nullified outside a sensing zone around the obstacle (the only required parameter is the width of the sensing zone). This allows the computation of the navigation function using information from a single obstacle each time. We present simulations to verify the validity of this approach.
Grigoris Lionis, Xanthi Papageorgiou, Kostas J. Ky
Added 03 Jun 2010
Updated 03 Jun 2010
Type Conference
Year 2007
Where ICRA
Authors Grigoris Lionis, Xanthi Papageorgiou, Kostas J. Kyriakopoulos
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