Egress: An online path planning algorithm for boundary exploration

dc.contributor.author	Guruprasad, K.R.
dc.contributor.author	Dasgupta, P.
dc.date.accessioned	2020-03-30T10:03:07Z
dc.date.available	2020-03-30T10:03:07Z
dc.date.issued	2012
dc.description.abstract	We consider the problem of navigating a mobile robot that is located at any arbitrary point within a bounded environment, to a point on the environment's outer boundary and then, using the robot to explore the perimeter of the boundary. The environment can have obstacles in it and the location and size of these obstacles are not provided a priori to the robot. We present an online path planning algorithm to solve this problem that requires very simple behaviors and computation on the robot. We analytically prove that by using our algorithm, the robot is guaranteed to reach and explore the outer boundary of the environment within a finite time. � 2012 IEEE.	en_US
dc.identifier.citation	Proceedings - IEEE International Conference on Robotics and Automation, 2012, Vol., , pp.3991-3996	en_US
dc.identifier.uri	https://idr.nitk.ac.in/handle/123456789/7931
dc.title	Egress: An online path planning algorithm for boundary exploration	en_US
dc.type	Book chapter	en_US

Files

Now showing 1 - 1 of 1