Reactive Robot Navigation Using Optimal Timing Control
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Abstract
In this paper a solution is presented for the
problem of avoiding obstacles while progressing towards a goal for a single robot. In particular, an optimal solution
is obtained by allowing the robot to switch between a fixed
number of behaviors and optimizing over what behaviors to
use and when to switch between them. We moreover show
that the structure of the switch law only depends on the
distance between the obstacle and the goal. Hence, once initial
simulations are done, the structure of the guard is known to
the robot and, given that the robot knows the distance between
the obstacle and the goal, it knows when to switch to obtain the
optimal solution. Therefore the solution lends itself to real-time
implementations. The feasibility of the approach is verified in
real robotics experiments.
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2005-06
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