By Topic

CBUG: A Quadratically Competitive Mobile Robot Navigation Algorithm

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$33 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Yoav Gabriely ; Dept. of Mech. Eng., Technion - Israel Inst. of Technol., Haifa ; Elon Rimon

This paper is concerned with online navigation of a size D mobile robot in an unknown planar environment. A formal means for assessing algorithms for online tasks is competitiveness. For the navigation task, competitiveness measures the algorithm's path length relative to the optimal offline path length. While competitiveness usually means constant relative performance, it is measured in this paper in terms of a quadratic relationship between online performance and optimal offline solution. An online navigation algorithm for a size D robot called CBUG is described. The competitiveness of CBUG is analyzed and shown to be quadratic in the length of the shortest offline path. Moreover, it is shown that, in general, quadratic competitiveness is the best achievable performance over all online navigation algorithms. Thus, up to constants, CBUG achieves optimal competitiveness. The algorithm is improved with some practical speedups, and the usefulness of its competitiveness in terms of path stability is illustrated in office-like environments.

Published in:

IEEE Transactions on Robotics  (Volume:24 ,  Issue: 6 )