{"title":"Robot navigation through obstacles of general shapes using a center-line oriented algorithm","authors":"Chun-Hung Lin, L. Fu","doi":"10.1109/ICSMC.1989.71356","DOIUrl":null,"url":null,"abstract":"The problem of navigating a mobile robot around barriers in an unexplored terrain is studied, where all the obstacles within the terrain are not necessarily of polygonal shape or convex. A model map is used to memorize the configuration of the environment observed so far and it is updated while the robot is being navigated. With safety' as a important factor to the solution of the problem, an algorithm which tends to find a center-line path among obstacles is proposed. The case where the sensor has only limited effective range is also considered. Detailed proof is provided of the collision-free and goal-convergent properties of the algorithm.<<ETX>>","PeriodicalId":72691,"journal":{"name":"Conference proceedings. IEEE International Conference on Systems, Man, and Cybernetics","volume":"1 1","pages":"545-550 vol.2"},"PeriodicalIF":0.0000,"publicationDate":"1989-11-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"2","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Conference proceedings. IEEE International Conference on Systems, Man, and Cybernetics","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICSMC.1989.71356","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 2
Abstract
The problem of navigating a mobile robot around barriers in an unexplored terrain is studied, where all the obstacles within the terrain are not necessarily of polygonal shape or convex. A model map is used to memorize the configuration of the environment observed so far and it is updated while the robot is being navigated. With safety' as a important factor to the solution of the problem, an algorithm which tends to find a center-line path among obstacles is proposed. The case where the sensor has only limited effective range is also considered. Detailed proof is provided of the collision-free and goal-convergent properties of the algorithm.<>
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