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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
Number of pages6
Accepted/In press12 Jan 2018


  • Reactive Magnetic-field-inspired Navigation_ATAKA_Accepted12January2018_GREEN AAM

    icra2018final.pdf, 577 KB, application/pdf

    Uploaded date:26 Feb 2018

    Version:Accepted author manuscript

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King's Authors


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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