Robust navigation in an unknown environment with minimal sensing and representation

Authors:
Fulvio Mastrogiovanni;Antonio Sgorbissa;Renato Zaccaria
Affiliations:
Department of Communication, Computer and System Sciences, University of Genova, Genova, Italy;Department of Communication, Computer and System Sciences, University of Genova, Genova, Italy;Department of Communication, Computer and System Sciences, University of Genova, Genova, Italy
Venue:
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics - Special issue on human computing
Year:
2009

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Abstract

This paper presents µNav, 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.