Title :
CBUG: A Quadratically Competitive Mobile Robot Navigation Algorithm
Author :
Gabriely, Yoav ; Rimon, Elon
Author_Institution :
Dept. of ME, Technion yoavga@tx.technion.ac.il
Abstract :
This paper is concerned with on-line navigation of a size D mobile robot in an unknown planar environment. The competitiveness of an on-line navigation algorithm measures its path length relative to the length of the optimal off-line path. While competitiveness usually means constant relative performance, it is generalized here to any functional relationship between on-line performance and optimal off-line solution. This paper describes a new on-line navigation algorithm, called CBUG, which requires constant memory and has a quadratic competitive performance. Moreover, it is shown that in general any online navigation algorithm must have at least a quadratic competitive performance. The CBUG algorithm achieves the quadratic lower bound and thus has optimal competitiveness.
Keywords :
Clocks; Computational geometry; Extraterrestrial measurements; Length measurement; Mobile robots; Navigation; Optimized production technology; Postal services; Production facilities; Robot sensing systems;
Conference_Titel :
Robotics and Automation, 2005. ICRA 2005. Proceedings of the 2005 IEEE International Conference on
Print_ISBN :
0-7803-8914-X
DOI :
10.1109/ROBOT.2005.1570409