1A1-H07 Tangent Bug algorithm for mobile robot with limited view(Wheeled Robot/Tracked Vehicle(1))
Sora TSUTIHASHI, Kouta KODAMA, Hiroyuki Ogata · The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) · 2012
Tangent bug is a path planning algorithm that can find a shortest path in local without the environmental map. Though the algorithm can be easily adjusted for real environment, it is based on the assumption that distance in all directions can be obtained by the mobile robot. However, not all mobile robots can get the range information from all directions. In this paper, we discuss a method to apply this algorithm to a robot that can only obtain distance information from limited directions.