DocumentCode :
1019185
Title :
Robust Navigation in an Unknown Environment With Minimal Sensing and Representation
Author :
Mastrogiovanni, Fulvio ; Sgorbissa, Antonio ; Zaccaria, Renato
Author_Institution :
Dept. of Commun., Comput., & Syst. Sci., Univ. of Genova, Genova
Volume :
39
Issue :
1
fYear :
2009
Firstpage :
212
Lastpage :
229
Abstract :
This paper presents muNav, a novel approach to navigation which, with minimal requirements in terms of onboard sensory, memory, and computational power, exhibits way-finding behaviors in very complex environments. The algorithm is intrinsically robust, since it does not require any internal geometrical representation or self-localization capabilities. Experimental results, performed with both simulated and real robots, validate the proposed theoretical approach.
Keywords :
mobile robots; path planning; robust control; computational power; geometrical representation; minimal sensing-representation; robust navigation; self-localization capabilities; way-finding behaviors; Bug algorithms; minimal sensing; navigation; Algorithms; Artificial Intelligence; Computer Simulation; Environment; Motion; Reproducibility of Results; Robotics;
fLanguage :
English
Journal_Title :
Systems, Man, and Cybernetics, Part B: Cybernetics, IEEE Transactions on
Publisher :
ieee
ISSN :
1083-4419
Type :
jour
DOI :
10.1109/TSMCB.2008.2004505
Filename :
4695976
Link To Document :
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