NDLI: A new range-sensor based globally convergent navigation algorithm for mobile robots

Content Provider	IEEE Xplore Digital Library
Author	Kamon, I. Rivlin, E. Rimon, E.
Copyright Year	1996
Description	Author affiliation: Dept. of Comput. Sci., Technion-Israel Inst. of Technol., Haifa, Israel (Kamon, I.; Rivlin, E.)
Abstract	We present TangentBug, a new range-sensor based navigation algorithm for two degrees-of-freedom mobile robots. The algorithm combines local reactive planning with globally convergent behaviour. For the local planning, TangentBug uses the range data to compute a locally shortest path based on a novel structure, termed the local tangent graph (LTG). The robot uses the LTG for choosing the locally optimal direction while moving towards the target. The robot also uses the LTG in its other motion mode, where it follows an obstacle boundary. In this mode the robot uses the LTG for making local short-cuts and testing a leaving condition which allows the robot to resume its motion towards the target. We analyze the convergence and performance properties of TangentBug. We also present simulation results, showing that TangentBug consistently performs better than the classical VisBug algorithm. Moreover, TangentBug produces paths that in simple environments approach the globally optimal path as the sensor's maximal detection range increases.
Starting Page	429
Ending Page	435
File Size	834270
Page Count	7
File Format	PDF
ISBN	0780329880
ISSN	10504729
DOI	10.1109/ROBOT.1996.503814
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1996-04-22
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Navigation Mobile robots Robot sensing systems Motion planning Convergence Path planning Mobile computing Computer science Testing Resumes
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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