Journal
IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART B-CYBERNETICS
Volume 39, Issue 1, Pages 212-229Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TSMCB.2008.2004505
Keywords
Bug algorithms; minimal sensing; navigation
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This paper presents mu Nav, a novel approach to navigation which, with minimal requirements in terms of onboard sensory, memory, and computational power, exhibits way-finding behaviors in very complex environments. The algorithm is intrinsically robust, since it does not require any internal geometrical representation or self-localization capabilities. Experimental results, performed with both simulated and real robots, validate the proposed theoretical approach.
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