Iterative point matching for registration of free-form curves and surfaces
International Journal of Computer Vision
Learning Occupancy Grid Maps with Forward Sensor Models
Autonomous Robots
Sensor-based path planning for nonholonomic mobile robots subject to dynamic constraints
Robotics and Autonomous Systems
Performance Comparison of Bug Navigation Algorithms
Journal of Intelligent and Robotic Systems
A biologically inspired method for vision-based docking of wheeled mobile robots
Robotics and Autonomous Systems
Wall-following control of an infrared sensors guided wheeled mobile robot
International Journal of Intelligent Systems Technologies and Applications
Curve Tracking Control for Autonomous Vehicles with Rigidly Mounted Range Sensors
Journal of Intelligent and Robotic Systems
Randomised MPC-based motion-planning for mobile robot obstacle avoidance
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Equiangular navigation and guidance of a wheeled mobile robot based on range-only measurements
Robotics and Autonomous Systems
Brief paper: Navigation of a unicycle-like mobile robot for environmental extremum seeking
Automatica (Journal of IFAC)
Automatica (Journal of IFAC)
Robotics and Cognitive Approaches to Spatial Mapping
Robotics and Cognitive Approaches to Spatial Mapping
A convergent dynamic window approach to obstacle avoidance
IEEE Transactions on Robotics
Boundary following and globally convergent path planning using instant goals
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
Collision free cooperative navigation of multiple wheeled robots in unknown cluttered environments
Robotics and Autonomous Systems
The problem of boundary following by a unicycle-like robot with rigidly mounted sensors
Robotics and Autonomous Systems
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In this paper, we propose a control law for navigating a robot along the boundary of an obstacle, using sampled line-of-sight obstacle distance data. By forming some assumptions about the shape of the obstacle, we generate constraints suitable for navigation using a model predictive control type approach. We show how a target point may be generated to facilitate the desired motion. The proposed method is suitable for vehicles with unicycle dynamics, and has the advantage of being able to vary the vehicles speed and following distance to adapt to the obstacle. We are able to show collision avoidance, complete transversal of the obstacle and finite completion time for transversing a finite boundary segment. Possible extensions to target convergence and moving obstacles are outlined. Simulations and experiments confirm the validity of the method.