Magnetic-Field-Inspired Navigation for Robots in Complex and Unknown Environments.

ABSTRACT: Over the course of the past decade, we have witnessed a huge expansion in robotic applications, most notably from well-defined industrial environments into considerably more complex environments. The obstacles that these environments often contain present robotics with a new challenge - to equip robots with a real-time capability of avoiding them. In this paper, we propose a magnetic-field-inspired navigation method that significantly has several advantages over alternative systems. Most importantly, 1) it guarantees obstacle avoidance for both convex and non-convex obstacles, 2) goal convergence is still guaranteed for point-like robots in environments with convex obstacles and non-maze concave obstacles, 3) no prior knowledge of the environment, such as the position

SUBMITTER: Ataka A 

PROVIDER: S-EPMC8894445 | biostudies-literature | 2022

REPOSITORIES: biostudies-literature