Robust Navigation in an Unknown Environment With Minimal Sensing and Representation

被引：22

作者：

Mastrogiovanni, Fulvio ^{[1
]}

Sgorbissa, Antonio ^{[1
]}

Zaccaria, Renato ^{[1
]}

机构：

[1] Univ Genoa, Dept Commun Comp & Syst Sci, I-16145 Genoa, Italy

来源：

IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART B-CYBERNETICS | 2009年 / 39卷 / 01期

关键词：

Bug algorithms; minimal sensing; navigation; MOBILE AUTOMATON; ROBOT NAVIGATION; INFORMATION; COMPLEXITY;

D O I：

10.1109/TSMCB.2008.2004505

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper presents mu Nav, 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.

引用

页码：212 / 229

页数：18

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