A globally converging algorithm for reactive robot navigation among moving and deforming obstacles

作者：Matveev Alexey S^*; Hoy Michael C; Savkin Andrey V

来源：Automatica, 2015, 54: 292-304.

DOI：10.1016/j.automatica.2015.02.012

• Robot navigation
• Mobile robots
• Collision avoidance
• Obstacle avoidance
• Moving and deforming obstacles

We present a reactive strategy for the navigation of a mobile robot in dynamic a priori unknown environments densely cluttered with moving and deforming obstacles. Mathematically rigorous analysis of this law with the proof of its global convergence is provided; its performance is confirmed by computer simulations.

• 出版日期2015-4