A robust satisficing feedback strategy for autonomous navigation
- 7 January 2003
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- No. 21589860,p. 379-384
- https://doi.org/10.1109/isic.1989.238670
Abstract
The authors present a robust algorithm for dynamic navigation of autonomous mobile robots (AMRs) using local feedback information. The structure of a previously proposed algorithm (see D. Feng and B.H. Krogh, 1989) is reviewed which uses the concept of a satisficing strategy to make steering decisions while the AMR is moving. The original feedback algorithm is modified to guarantee collision avoidance in the presence of limited sensor range, sensor and servo errors, and computational delays for processing online sensor data to update the internal map of the local visible environment. Details of the approach are presented for an omnidirectional AMR and a conventionally steered AMR. Simulation examples demonstrate the robustness of the feedback algorithm for realistic sensor and servo errors and computational delays.Keywords
This publication has 10 references indexed in Scilit:
- The servo-control system for an omnidirectional mobile robotPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2003
- A paradigm for incorporating vision in the robot navigation functionPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2003
- Local path control for an autonomous vehiclePublished by Institute of Electrical and Electronics Engineers (IEEE) ,2003
- Satisficing feedback strategies for local navigation of autonomous mobile robotsIEEE Transactions on Systems, Man, and Cybernetics, 1990
- Dynamic generation of subgoals for autonomous mobile robots using local feedback informationIEEE Transactions on Automatic Control, 1989
- Path-planning strategies for a point mobile automaton moving amidst unknown obstacles of arbitrary shapeAlgorithmica, 1987
- Progress in robot road-followingPublished by Institute of Electrical and Electronics Engineers (IEEE) ,1986
- A sonar-based mapping and navigation systemPublished by Institute of Electrical and Electronics Engineers (IEEE) ,1986
- Spatial Planning: A Configuration Space ApproachIEEE Transactions on Computers, 1983
- Automatic Planning of Manipulator Transfer MovementsIEEE Transactions on Systems, Man, and Cybernetics, 1981