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global path planning

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1 results

Reactive and the shortest path navigation of a wheeled mobile robot in cluttered environments
Andrey V. Savkin, Michael Hoy
Journal:

Robotica / Volume 31 / Issue 2 / March 2013

Published online by Cambridge University Press:

10 July 2012, pp. 323-330
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We determine the shortest (minimal in length) path on a unicycle-like mobile robot in a known environment with smooth (possibly non-convex) obstacles with a constraint on curvature of their boundaries. Furthermore, we propose a new reactive randomized algorithm of robot navigation in unknown environment and prove that the robot will avoid collisions and reach a steady target with probability 1. The performance of our algorithm is confirmed by computer simulations and outdoor experiments with a Pioneer P3-DX mobile wheeled robot.