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On a Goal-Directed Reactive Navigation Method for a Mobile Robot  

오용환 (한국과학기술연구원)
윤도영 (고려대학교 전기공학과)
오상록 (한국과학기술연구원)
박귀태 (고려대학교 전기공학과)
Publication Information
The Transactions of the Korean Institute of Electrical Engineers D / v.53, no.4, 2004 , pp. 246-257 More about this Journal
Abstract
This paper proposes two contributions. One is an analysis for the limit of the subject of goal-directed reactive robot navigation, and the other is an effective navigation method employing the scheme of the subject. The analysis for the subject is presented in order to clarify the limit of the method. On the basis of the analysis, a safety-guaranteeing and deadlock-free reactive navigation method is newly proposed. The proposed method has a simple behavior-based frame such that it can make the required navigation tasks such as obstacle avoidance, deadlock resolving, and etc. with a very small set of behaviors in entirely unknown environments such as a living room, an office, and etc. Some results of experiments show these validities.
Keywords
Reactive navigation; Goal-directed navigation; Mobile robot; Behavior-based robotics; Deadlock;
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