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ICRA
2003
IEEE

Optimal navigation and object finding without geometric maps or localization

10 years 4 months ago
Optimal navigation and object finding without geometric maps or localization
In this paper we present a dynamic data structure, useful for robot navigation in an unknown, simplyconnected planar environment. The guiding philosophy in this work is to avoid traditional problems such as complete map building and localization by constructing a minimal representation based entirely on critical events in online sensor measurements made by the robot. Furthermore, this representation provides a sensor-feedback motion strategy that guides the robot along an optimal trajectory between any two environment locations, and allows the search of static targets, even though there is no geometric map of the environment. We present algorithms for building the data structure in an unknown environment, and for using it to perform optimal navigation. We implemented these algorithms on a real mobile robot. Results are presented in which the robot builds the data structure online, and is able to use it without needing a global reference frame. Simulation results are also shown to demo...
Benjamín Tovar, Steven M. LaValle, Rafael M
Added 04 Jul 2010
Updated 04 Jul 2010
Type Conference
Year 2003
Where ICRA
Authors Benjamín Tovar, Steven M. LaValle, Rafael Murrieta-Cid
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