Robust Navigation in an Unknown Environment With Minimal Sensing and Representation
Fulvio Mastrogiovanni, Antonio Sgorbissa, Renato Zaccaria · IEEE Transactions on Systems Man and Cybernetics Part B (Cybernetics) · 2008
This paper presents muNav, a novel approach to navigation which, with minimal requirements in terms of onboard sensory, memory, and computational power, exhibits way-finding behaviors in very complex environments. The algorithm is intrinsically robust, since it does not require any internal geometrical representation or self-localization capabilities. Experimental results, performed with both simulated and real robots, validate the proposed theoretical approach.