Sensor-based path planning for nonholonomic mobile robots subject to dynamic constraints
Robotics and Autonomous Systems
Robust navigation in an unknown environment with minimal sensing and representation
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics - Special issue on human computing
A topological approach of path planning for autonomous robot navigation in dynamic environments
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Agent formations in 3D spaces with communication limitations using an adaptive Q-structure
Robotics and Autonomous Systems
Neighborhood linear embedding for intrinsic structure discovery
Machine Vision and Applications
Robotics and Autonomous Systems
The problem of boundary following by a unicycle-like robot with rigidly mounted sensors
Robotics and Autonomous Systems
Robust Reactive Mobile Robot Navigation with Modified DWA+CG
Proceedings of Conference on Advances In Robotics
A Method of Boundary Following by a Wheeled Mobile Robot Based on Sampled Range Information
Journal of Intelligent and Robotic Systems
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In this paper, an instant goal approach is proposed for collision-free boundary following of obstacles of arbitrary shape and globally convergent path planning in unknown environments. Firstly, for effective knowledge representation and manipulation, a vector representation is presented, which not only saves much space but also conforms to the physical properties of range sensors. Secondly, the concept of instant goals is introduced enabling the robot to perform boundary following in a "natural" human-like manner, with additional measures taken to ensure that the robot is moving "forward" along the boundary, even if the obstacle is of arbitrary shape and disturbing obstacles are present. Collision checking is performed simultaneously and, when needed, collision avoidance is efficiently incorporated in. Based on the approach of boundary following, a realistic sensor-based path planner with global convergence property is designed for the robot capable of acquiring discrete and noisy range data. Realistic simulation experiments validate the effectiveness of the proposed approaches.