Tangent graph based navigation of a non-holonomic mobile robot in cluttered environments

We determine the optimal (shortest) path on a unicycle-like mobile robot in a known environment with smooth (possibly non-convex) obstacles with a constraint on curvature of their boundaries. Furthermore, we propose a new reactive randomized algorithm of robot navigation in unknown environment and prove that the robot will avoid collisions and reach a steady target with probability 1. The performance of our algorithm is confirmed by computer simulations and outdoor experiments with a Pioneer P3-DX mobile wheeled robot.