TY - GEN
T1 - Locally computable navigation functions for sphere worlds
AU - Lionis, Grigoris
AU - Papageorgiou, Xanthi
AU - Kyriakopoulos, Kostas J.
PY - 2007
Y1 - 2007
N2 - In this paper we present a new Navigation Function for a sphere world that can be computed locally with limited knowledge of the environment. By requiring smooth and not analytic NF, the effect of each obstacle is exactly nullified outside a sensing zone around the obstacle (the only required parameter is the width of the sensing zone). This allows the computation of the navigation function using information from a single obstacle each time. We present simulations to verify the validity of this approach.
AB - In this paper we present a new Navigation Function for a sphere world that can be computed locally with limited knowledge of the environment. By requiring smooth and not analytic NF, the effect of each obstacle is exactly nullified outside a sensing zone around the obstacle (the only required parameter is the width of the sensing zone). This allows the computation of the navigation function using information from a single obstacle each time. We present simulations to verify the validity of this approach.
UR - http://www.scopus.com/inward/record.url?scp=36348930984&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=36348930984&partnerID=8YFLogxK
U2 - 10.1109/ROBOT.2007.363615
DO - 10.1109/ROBOT.2007.363615
M3 - Conference contribution
AN - SCOPUS:36348930984
SN - 1424406021
SN - 9781424406029
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 1998
EP - 2003
BT - 2007 IEEE International Conference on Robotics and Automation, ICRA'07
T2 - 2007 IEEE International Conference on Robotics and Automation, ICRA'07
Y2 - 10 April 2007 through 14 April 2007
ER -