• DocumentCode
    339546
  • Title

    Motion planning in an unknown polygonal environment with sounded performance guarantee

  • Author

    Datta, Amitava ; Soundaralakshmi, Subbiah

  • Author_Institution
    Dept. of Comput. Sci., Western Australia Univ., Perth, WA, Australia
  • Volume
    2
  • fYear
    1999
  • fDate
    1999
  • Firstpage
    1032
  • Abstract
    We consider the navigation problem of a robot from a starting point S to a target point T inside an unknown polygonal environment. The robot knows the directions of the points S and T and it can detect the walls of the environment through its tactile sensors. We present a competitive strategy for the robot to reach the target T. The path length generated by the robot is ⩽4.5d(κ-1)(κ+2)×d, where, κ=3(d/2-1) and d is the L1 distance between S and T
  • Keywords
    mobile robots; navigation; path planning; competitive strategy; mobile robot; motion planning; navigation; path planning; polygonal environment; Acoustic sensors; Computer science; Convergence; Legged locomotion; Mobile robots; Motion planning; Navigation; Robot sensing systems; Tactile sensors; Upper bound;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Robotics and Automation, 1999. Proceedings. 1999 IEEE International Conference on
  • Conference_Location
    Detroit, MI
  • ISSN
    1050-4729
  • Print_ISBN
    0-7803-5180-0
  • Type

    conf

  • DOI
    10.1109/ROBOT.1999.772450
  • Filename
    772450
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=339546