This paper presents muNav, a novel approach to navigation which, with minimal requirements in terms of onboard sensory, memory, and computational power, exhibits way-finding behaviors in very complex environments. The algorithm is intrinsically robust, since it does not require any internal geometrical representation or self-localization capabilities. Experimental results, performed with both simulated and real robots, validate the proposed theoretical approach.

Robust navigation in an unknown environment with minimal sensing and representation

MASTROGIOVANNI, FULVIO;SGORBISSA, ANTONIO;ZACCARIA, RENATO UGO RAFFAELE
2009-01-01

Abstract

This paper presents muNav, a novel approach to navigation which, with minimal requirements in terms of onboard sensory, memory, and computational power, exhibits way-finding behaviors in very complex environments. The algorithm is intrinsically robust, since it does not require any internal geometrical representation or self-localization capabilities. Experimental results, performed with both simulated and real robots, validate the proposed theoretical approach.
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11567/228919
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