Transactions of the Society of Instrument and Control Engineers
Online ISSN : 1883-8189
Print ISSN : 0453-4654
ISSN-L : 0453-4654
On the Sensor-Based Navigation for Overcoming Position, Orientation, and Sensor Errors in a Sparse 2-D Uncertain Environment
Hiroshi NOBORIOTakashi YOSHIOKAGuenther SCHMIDT
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2001 Volume 37 Issue 4 Pages 346-354

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Abstract
In the last decade, many sensor-based navigation algorithms have been proposed, which keep convergence of a mobile robot to its destination in a 2-D uncertain environment. From the convergence viewpoint, all the previous algorithms are categorized into three types, i.e., metric, topologic, and geometric algorithms. A mobile robot supervised by each algorithm frequently joins a limit cycle (deadlock) if the robot generates position, orientation, and/or sensor errors. Especially, geometric and topologic algorithms are theoretically damaged by position and sensor errors, respectively, even though they are small enough in a 2-D unknown environment. Therefore, we are obliged to rely upon the metric algorithm if all errors exist. In case that a mobile robot is ready for position, orientation, and sensor errors, we propose a stable metric sensor-based navigation algorithm for overcoming all the errors. The stable algorithm always leads a robot near its destination in a sparse environment whose minimum distance of obstacles is sufficiently larger than the sum of a radius of a mobile robot and position ingredients of the errors. Finally, we ensure convergence of a robot in destination's neighborhood in the proposed algorithm by theoretical proof and experimental result.
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