Reactive Magnetic-field-inspired Navigation for Non-holonomic Mobile Robots in Unknown Environments

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Abstract

In this paper, we present a reactive robot navigation method for a non-holonomic mobile robot taking inspiration from the phenomena observed in magnetic fields. The algorithm is shown to be able to guide mobile robots in arbitrary-shaped convex environment without being trapped in local minima by exploiting the local sensory information without priori knowledge about the environment. A preliminary validation study involving simulation of and experiments with a TurtleBot mobile robot platform show the advantage of the proposed method over existing ones.
Original languageEnglish
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
PublisherIEEE
Number of pages6
Volume2016
EditionMay
Publication statusAccepted/In press - 12 Jan 2018

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