Unknown-terrains navigation of a mobile robot using an array of sonars
Conference
·
OSTI ID:10178027
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.
- Research Organization:
- Oak Ridge National Lab., TN (United States)
- Sponsoring Organization:
- USDOE, Washington, DC (United States)
- DOE Contract Number:
- AC05-84OR21400
- OSTI ID:
- 10178027
- Report Number(s):
- CONF-9410186--1; ON: DE94017902
- Country of Publication:
- United States
- Language:
- English
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