Locally Computable Navigation Functions for Sphere Worlds

Grigoris Lionis, Xanthi Papageorgiou, Kostas J. Kyriakopoulos
2007 Engineering of Complex Computer Systems (ICECCS), Proceedings of the IEEE International Conference on  
In this paper we present a new Navigation Function for a sphere world that can be computed locally with limited knowledge of the environment. By requiring smooth and not analytic NF, the effect of each obstacle is exactly nullified outside a sensing zone around the obstacle (the only required parameter is the width of the sensing zone). This allows the computation of the navigation function using information from a single obstacle each time. We present simulations to verify the validity of this
more » ... approach. by Khatib [4] as a low-level obstacle avoidance schema that used local sensing, preventing the robot from colliding to nearby obstacles. NF have been used in high dimensional spaces, for navigating non-holonomic vehicles and for multi agent navigation problems [5], [6] .
doi:10.1109/robot.2007.363615 dblp:conf/icra/LionisPK07 fatcat:2uufv6pd25cnjhmp5wdap2ayky