CBUG: A Quadratically Competitive Mobile Robot Navigation Algorithm

Y. Gabriely, E. Rimon
Proceedings of the 2005 IEEE International Conference on Robotics and Automation  
This paper is concerned with the problem where a mobile robot of size D has to navigate to a target in an unknown planar environment. The competitiveness of an on-line navigation algorithm measures its path length relative to the length of the optimal off-line path. While competitiveness usually means constant relative performance, it is generalized here to any functional relationship between online performance and optimal off-line solution. This paper describes a new on-line navigation
more » ... navigation algorithm, called CBU G, which requires constant memory and has a quadratic competitive performance. Moreover, it is shown that in general any on-line navigation algorithm must have at least a quadratic competitive performance. The CBU G algorithm achieves the quadratic lower bound and thus has optimal competitiveness. The algorithm is improved with some practical speedups and its performance is illustrated in office-like environments.
doi:10.1109/robot.2005.1570409 dblp:conf/icra/GabrielyR05 fatcat:ghxkl5sjtbdoxcl4n57bwar5jy