Trap recovery is required for autonomous mobile robots that sense and avoid local obstacles as they maneuver along a goal-oriented path. We have developed a heuristic search-based recovery algorithm that is invoked immediately whenever a potential trap situation is identified. This algorithm generates intermediate short distance target points (via points) that are used as temporary goals to guide the robot out of the trap situation and allow it to reach a final destination without " stopping-then-thinking" whenever traps are encountered. Real-time navigation is achieved by reacting quickly to the local sensor-detected feedback information and employing on-line reasoning and planning to provide trap recovery. I.
Proceedings Volume Editor (1)
This will count as one of your downloads.
You will have access to both the presentation and article (if available).
Access to the requested content is limited to institutions that have purchased or subscribe to SPIE eBooks.
You are receiving this notice because your organization may not have SPIE eBooks access.*
*Shibboleth/Open Athens users─please
sign in
to access your institution's subscriptions.
To obtain this item, you may purchase the complete book in print or electronic format on
SPIE.org.
INSTITUTIONAL Select your institution to access the SPIE Digital Library.
PERSONAL Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.