A new range-sensor based globally convergent navigation algorithm for mobile robots
- 23 December 2002
- proceedings article
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- Vol. 1, 429-435
- https://doi.org/10.1109/robot.1996.503814
Abstract
We present TangentBug, a new range-sensor based globally convergent navigation algorithmfor mobile robots. We incorporate the idea of the locally shortest path, using thetangent graph, into the decisions of a local planner which exploits range-data to produceshort paths. We adjust the structure of the tangent graph, which was defined for a completelyknown environment, and introduce a local range-data based version of it, termedthe local tangent graph, or LTG.Our algorithm belongs to the...Keywords
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