Abstract
In this paper, we propose two sensor-based deadlock-free navigation algorithms in a 2D uncertain world. In almost all previous algorithms, a mobile robot comes close to its goal monotonously after avoiding an interfered obstacle. Consequently at worst, there is no obstacle where a mobile robot can hit in a 2D uncertain world and the robot arrives at the goal surely. We call this deadlock-free property, i.e., the convergence of a mobile robot to its goal, as the metric property. In this paper, we propose a new type of two sensorbased navigation algorithms whose deadlock-free characteristics are ensured by obstacle geometry. By using the geometric characteristic, a mobile robot never joins any deadlock, i.e., periodic cycle, and consequently arrives at its goal in an unknown 2D world.
