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

Research output: Chapter in Book/Report/Conference proceedingConference paperpeer-review

Original languageEnglish
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
PublisherIEEE
Number of pages6
Volume2016
EditionMay
Accepted/In press12 Jan 2018

Documents

  • Reactive Magnetic-field-inspired Navigation_ATAKA_Accepted12January2018_GREEN AAM

    icra2018final.pdf, 577 KB, application/pdf

    Uploaded date:26 Feb 2018

    Version:Accepted author manuscript

    “© 2018 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted.

King's Authors

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.

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