ROBNAV: A Range-Based Robot Navigation and Obstacle Avoidance Algorithm
- 1 January 1975
- journal article
- Published by Institute of Electrical and Electronics Engineers (IEEE) in IEEE Transactions on Systems, Man, and Cybernetics
- Vol. SMC-5 (5), 544-551
- https://doi.org/10.1109/tsmc.1975.5408378
Abstract
An algorithm has been developed that efficiently solves a large class of robot navigation and obstacle avoidance problems using range information as its sole input from the environment. The system resides in a minicomputer and requires very small memory (1500 words) and computing time (1.35 s) allocations while solving simulated problems of broadly ranging spatial complexity and operational intricacy. It is thus a prime candidate for use in mobile robots or manipulators where real-time operation is desired.Keywords
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