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

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) alloc...

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Bibliographic Details
Published in:IEEE transactions on systems, man, and cybernetics man, and cybernetics, 1975-01, Vol.SMC-5 (5), p.544-551
Main Authors: Cahn, David F., Phillips, Stephen R.
Format: Article
Language:English
Subjects:
Computational modeling
History
Intelligent robots
Manipulators
Microcomputers
Mobile robots
Navigation
Object recognition
Reliability theory
Robot control
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Summary: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.
ISSN:0018-9472
2168-2909
DOI:10.1109/TSMC.1975.5408378