Reactive Control and Metric-Topological Planning for Exploration
Michael T. Ohradzansky,Andrew B. Mills,Eugene R. Rush,Danny G. Riley,Eric W. Frew,J. Sean Humbert,Michael T. Ohradzansky,Andrew B. Mills,Eugene R. Rush,Danny G. Riley,Eric W. Frew,J. Sean Humbert
Autonomous navigation in unknown environments with the intent of exploring all traversable areas is a significant challenge for robotic platforms. In this paper, a simple yet reliable method for exploring unknown environments is presented based on bio-inspired reactive control and metric-topological planning. The reactive control algorithm is modeled after the spatial decomposition of wide and sma...
