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Summary: Angle-Based Methods for Mobile Robot Navigation:
Reaching the Entire Plane
Kostas E. Bekris1 Antonis A. Argyros2 Lydia E. Kavraki1
1
Computer Science Department 2
Institute of Computer Science (ICS)
Rice University Foundation for Research and Technology Hellas(FORTH)
Houston, TX, 77005, USA Heraklion, Crete, Greece
{bekris,kavraki}@cs.rice.edu argyros@ics.forth.gr
Abstract-- Popular approaches for mobile robot navigation
involve range information and metric maps of the workspace.
For many sensors, however, such as cameras and wireless
hardware, the angle between two features or beacons is
easier to measure. With these sensors' features in mind, we
initially present a control law, which allows a robot with an
omni-directional sensor to reach a subset of the plane by
monitoring the angles of only three landmarks. By analyzing
the law's properties, a second law has been developed that
reaches the complementary set of points. The two methods
are then combined in a path planning framework that reaches
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