Algorithm for reactive navigation of nonholonomic robots in maze-like environments

In this chapter, we present a method for guidance of a Dubins-like mobile robot with saturated control toward a target in a steady and simply connected maze-like environment. The robot always has access to the target-relative bearing angle and the distance to the nearest point of the maze if it is within the given sensor range. The proposed control law is composed by biologically inspired reflex-level rules. Mathematically rigorous analysis of this law is provided, and its convergence and performance are confirmed by computer simulations and experiments with real robots.

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