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ROBNAV: A Range-Based Robot Navigation and Obstacle Avoidance Algorithm

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2 Author(s)
David F. Cahn ; Department of Mechanical Engineering, University of California, Berkeley, Calif. ; Stephen R. Phillips

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.

Published in:

IEEE Transactions on Systems, Man, and Cybernetics  (Volume:SMC-5 ,  Issue: 5 )