1995
DOI: 10.1117/12.198979
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Abstract: The local navigation problem for autonomous mobile robots (AMRs) and its applications to wheeled robots is addressed. The problem of driving an AMR to a goal in an unknown environment, containing both stationary as well as moving obstacles, is formulated as a dynamic feedback control problem. An algorithm using local feedback information to generate subgoals for driving the AMR along a collision -free trajectory to the goal is adopted. The local free -space for subgoal selections is constructed taking into ac…

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