Cart (Loading....) | Create Account
Close category search window

Sensory-based motion planning with global proofs

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
$31 $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)
Kamon, I. ; Dept. of Comput. Sci., Technion-Israel Inst. of Technol., Haifa, Israel ; Rivlin, E.

We present DistBug, a new navigation algorithm for mobile robots which exploits range data. The algorithm belongs to the Bug family, which combines local planning with global information that guarantees convergence. Most Bug-type algorithms use contact sensors and consist of two reactive modes of motion: moving toward the target between obstacles and following obstacle boundaries, DistBug uses range data in a new “leaving condition” which allows the robot to abandon obstacle boundaries as soon as global convergence is guaranteed, based on the free range in the direction of the target. The leaving condition is tested directly on the sensor readings, thus making the algorithm simple to implement. To further improve performance, local information is utilized for choosing the boundary following direction, and a search manager is introduced for bounding the search area. The simulation results indicate a significant advantage of DistBug relative to the classical Bug2 algorithm. The algorithm was implemented and tested on a real robot, demonstrating the usefulness and applicability of our approach

Published in:

Robotics and Automation, IEEE Transactions on  (Volume:13 ,  Issue: 6 )

Date of Publication:

Dec 1997

Need Help?

IEEE Advancing Technology for Humanity About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies

A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2014 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.