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A simple biologically inspired algorithm for collision-free navigation of a unicycle-like robot in dynamic environments with moving obstacles

Published online by Cambridge University Press:  01 May 2013

Andrey V. Savkin  and
Chao Wang
Andrey V. Savkin
Affiliation:
School of Electrical Engineering and Telecommunications, The University of New South Wales, Sydney 2052, Australia
Chao Wang*
Affiliation:
School of Electrical Engineering and Telecommunications, The University of New South Wales, Sydney 2052, Australia
*
*Corresponding author. E-mail: [email protected]
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Summary

We present a simple biologically inspired strategy for the navigation of a unicycle-like robot towards a target while avoiding collisions with moving obstacles. A mathematically rigorous analysis of the proposed approach is provided. The performance of the algorithm is demonstrated via experiments with a real robot and extensive computer simulations.

Keywords

Moving obstaclesBiologically inspired guidanceCollision avoidanceObstacle avoidanceWheeled mobile robotsBiomimetic navigationNavigation in unknown dynamic environments
Type
Articles
Information
Robotica , Volume 31 , Issue 6 , September 2013 , pp. 993 - 1001
Copyright
Copyright © Cambridge University Press 2013 

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