Real-time obstacle avoidance for manipulators and mobile robots
International Journal of Robotics Research
A layered architecture for office delivery robots
AGENTS '97 Proceedings of the first international conference on Autonomous agents
Artificial intelligence and mobile robots
Robot Motion Planning
Dynamic Motion Planning for Mobile Robots Using Potential Field Method
Autonomous Robots
Performance Comparison of Bug Navigation Algorithms
Journal of Intelligent and Robotic Systems
The virtual wall approach to limit cycle avoidance for unmanned ground vehicles
Robotics and Autonomous Systems
Velocity planning for a mobile robot to track a moving target - a potential field approach
Robotics and Autonomous Systems
Development of a new minimum avoidance system for a behavior-based mobile robot
Fuzzy Sets and Systems
A sub goal seeking approach for reactive navigation in complex unknown environments
Robotics and Autonomous Systems
Exploring design space for an integrated intelligent system
Knowledge-Based Systems
Limited-Damage A*: A path search algorithm that considers damage as a feasibility criterion
Knowledge-Based Systems
Applying inter-layer conflict resolution to hybrid robot control architectures
Applying inter-layer conflict resolution to hybrid robot control architectures
Fast replanning for navigation in unknown terrain
IEEE Transactions on Robotics
A hybrid navigation strategy for multiple mobile robots
Robotics and Computer-Integrated Manufacturing
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Focusing on the navigation problem of mobile robots in environments with incomplete knowledge, a new hybrid navigation algorithm is proposed. The novel system architecture in the proposed algorithm is the main contribution of this paper. Unlike most existing hybrid navigation systems whose deliberative layers usually play the dominant role while the reactive layers are only simple executors, a more independent reactive layer that can guarantee convergence without the assistance of a deliberative layer is pursued in the proposed architecture, which brings two benefits. First, the burden of the deliberative layer is released, which is beneficial to guaranteeing real-time property and decreasing resource requirement. Second, some possible layer conflicts in the traditional architecture can be resolved, which improves the system stability. The convergence of the new algorithm has been proved. The simulation results show that compared with three traditional algorithms based on different architectures, the new hybrid navigation algorithm proposed in this paper performs more reliable in terms of escaping from traps, resolving conflicts between layers and decreasing the computational time for avoiding time out of the control cycle. The experiments on a real robot further verify the validity and applicability of the new algorithm.