Autonomous Mobile Robots Controlled by Navigation Functions

D.E. Koditschek
Proceedings. IEEE/RSJ International Workshop on Intelligent Robots and Systems '. (IROS '89) 'The Autonomous Mobile Robots and Its Applications  
This paper reviews the theory of navigation functions and the attendant use of natural control techniques with emphasis upon applications to mobile autonomous robots. Results to date will be discussed in the context of a larger program of research that seeks effective parameterizations of uncertainty in robot navigation problems. Constructive solutions to particular cases of mobile robot navigation problems with complete certainty are provided as well. Comments Abstract This paper reviews the
more » ... eory of navigation functions and the attendant use of natural control techniques with emphasis upon applications to mobile autonomous robots. Results to date will be discussrtl i n tlir rontrxt o f a 1;irgcr prograrn of rcscarrh that sccks cffcc.t,ivr para.inrtri~ations of rrncrrtainty i n rolmt. navigaf.ioii prol)lrms. Constrnctivc solutions to particrilar caws of mobile robot navigation problems with complete certainty are provided as well.
doi:10.1109/iros.1989.637971 dblp:conf/iros/Koditschek89 fatcat:fqlmeerzmjdkfkha2nwuhziuce