Abstract This paper considers the problem of globally optimal navigation with respect to Euclidean distance for a disc-shaped, differential-drive robot placed into an unknown, simply connected planar region with piecewise-analytic boundary. The robot is unable to build precise geometric maps or localize itself in any Euclidean frame. Most of the robot's information comes from a gap sensor, which indicates depth discontinuities and allows the robot to move toward them. A motion strategy is presented that optimally navigates the robot to any landmark in the region. Optimality is proved and the method is illustrated in simulation.
The GNT approach has been extended to a disc-shaped differential-drive robot placed into an unknown, simply connected polygonal region in REF .
Optimal Gap Navigation for a Disc Robot
WAFR
Computer Science