Reactive and the shortest path navigation of a wheeled mobile robot in cluttered environments

We determine the shortest minimal in length path on a unicycle-like mobile robot in a known environment with smooth possibly non-convex obstacles with a constraint on curvature of their boundaries. Furthermore, we propose a new reactive randomized algorithm of robot navigation in unknown environment and prove that the robot will avoid collisions and reach a steady target with probability 1. The performance of our algorithm is confirmed by computer simulations and outdoor experiments with a Pioneer P3-DX mobile wheeled robot.

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