Abstract
This paper considers the problem of globally optimal navigation with respect to Euclidean distance for disc-shaped, differential-drive robot placed into an unknown, simply connected polygonal region. The robot is unable to build precise geometric maps of the environment. Most of the robot’s information comes from a gap sensor, which indicates depth discontinuities and allows the robot to move toward them. A motion strategy is presented that optimally navigates the robot to any landmark in the region. Optimality is proved and the method is illustrated in simulation.
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Lopez-Padilla, R., Murrieta-Cid, R., LaValle, S.M. (2013). Optimal Gap Navigation for a Disc Robot. In: Frazzoli, E., Lozano-Perez, T., Roy, N., Rus, D. (eds) Algorithmic Foundations of Robotics X. Springer Tracts in Advanced Robotics, vol 86. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-36279-8_8
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DOI: https://doi.org/10.1007/978-3-642-36279-8_8
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