A mobile robot equipped with an array of sonars is required to navigate to a destination through a planar terrain populated by polygonal obstacles whose locations and shapes are unknown. A navigation method is proposed based on a trapezoidal decomposition of tile terrain for an abstract formulation, where elementary navigational steps consist of following the obstacle edges and turning around the corners. The convergence of an abstract version of the algorithm is first analytically established. Then experimental results on implementing the algorithm on an experimental mobile robot are reported.
Unknown-terrains navigation of a mobile robot using an array of sonars
1994
9 pages
Report
No indication
English
Unknown-Terrains Navigation of a Mobile Robot using an Array of Sonars
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