A method for autonomous robot navigation in partly known structured environments

Although several experiments have been conducted in the field of robot navigation, most methods and algorithms still seem to have problems, like not taking the size of the robot into account. We present a global navigation method which can be used with only a little a priori knowledge, assuming that the robot knows its precise position and is only equipped with range sensors, The search only requires implicit knowledge of the environment (the narrowest corridor's width) to determine some parameters.