Optimal Gap Navigation for a Disc Robot

This paper considers the problem of globally optimal navigation with respect to Euclidean distance for disc-shaped, differential-drive robot placed into an unknown, simply connected polygonal region. The robot is unable to build precise geometric maps of the environment. Most of the robot’s information comes from a gap sensor, which indicates depth discontinuities and allows the robot to move toward them. A motion strategy is presented that optimally navigates the robot to any landmark in the region. Optimality is proved and the method is illustrated in simulation.

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