Navigation of a Rescue Robot in Unknown Environment Using Visual Tangent Graphs
Gang Liu · Journal of Shandong University of Science and Technology · 2012
The navigation of a rescue robot in unknown environment is studied in the paper.A navigation algorithm using visual tangent graphs is presented.The feasibility of the navigation algorithm proposed is also analyzed.A reactive navigation and a reflective navigation constitute the navigation process.A direction attracting operator is adopted to search a local optimum path guided by the global goal.The simulation experiment based on Matlab indicates that the proposed navigation algorithm is feasible with shorter path,relatively less motion time and better environment adaptability,which can satisfy the motion requirement of the rescue robot in unknown environment.