A dynamic reachability test for sensor-based navigation with unknown obstacle boundaries


ABSTRACT This paper presents a feasible formulation of reachability test for sensor-based navigation. It directly incorporates the distance sensor information and tolerates the sensing and control errors. The concept of the obstacle range is proposed, and the intersection between obstacle ranges is widely investigated based on geometrical reasoning. The… (More)
DOI: 10.1109/IROS.2001.976371


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