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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.
Systems, Man, and Cybernetics, Part B: Cybernetics, IEEE Transactions on (Volume:39 , Issue: 1 )
Date of Publication: Feb. 2009