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Algorithms for collision-free navigation of mobile robots in complex cluttered environments: a survey

Published online by Cambridge University Press:  04 March 2014

Michael Hoy ,
Alexey S. Matveev  and
Andrey V. Savkin
Michael Hoy*
Affiliation:
School of Electrical Engineering and Telecommunication, University of New South Wales, Sydney, Australia
Alexey S. Matveev
Affiliation:
Department of Mathematics and Mechanics, Saint Petersburg University, St. Petersburg, Russia
Andrey V. Savkin
Affiliation:
School of Electrical Engineering and Telecommunication, University of New South Wales, Sydney, Australia
*
*Corresponding author. E-mail: [email protected]
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Summary

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We review a range of techniques related to navigation of unmanned vehicles through unknown environments with obstacles, especially those that rigorously ensure collision avoidance (given certain assumptions about the system). This topic continues to be an active area of research, and we highlight some directions in which available approaches may be improved. The paper discusses models of the sensors and vehicle kinematics, assumptions about the environment, and performance criteria. Methods applicable to stationary obstacles, moving obstacles and multiple vehicles scenarios are all reviewed. In preference to global approaches based on full knowledge of the environment, particular attention is given to reactive methods based on local sensory data, with a special focus on recently proposed navigation laws based on model predictive and sliding mode control.

Keywords

Path planningNavigationMulti-robot systemsMotion planningMobile robotsControl of robotic systems
Type
Articles
Information
Robotica , Volume 33 , Issue 3 , March 2015 , pp. 463 - 497
Copyright
Copyright © Cambridge University Press 2014 

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