Upload
samantha-mcfadden
View
218
Download
0
Tags:
Embed Size (px)
Citation preview
Distance-Optimal Navigation in an Unknown
Environment Without Sensing Distances
Presenter: 林易增 2008/3/11
Outline
• Introduction
• Robot Model
• Gap Navigation Tree(GNT)
• Multiply Connected Environments
• Implementation
• Conclusion
INTRODUCTION
• More information is better?
• Abstract sensor
• Gap Navigation Tree(GNT)
• Bug Algorithms
Outline
• Introduction
• Robot Model
• Gap Navigation Tree(GNT)
• Multiply Connected Environments
• Implementation
• Conclusion
Outline
• Introduction
• Robot Model
• Gap Navigation Tree(GNT)
• Multiply Connected Environments
• Implementation
• Conclusion
GNT(1/10)
• Compressing the Sensor History
1 2 30 , ,g g gG
1 4 5 3' , , ,s g g g gG
1 4 5 3' , , ,s g g g gG
361' g,g,gsG
Outline
• Introduction
• Robot Model
• Gap Navigation Tree(GNT)
• Multiply Connected Environments
• Implementation
• Conclusion
Outline
• Introduction
• Robot Model
• Gap Navigation Tree(GNT)
• Multiply Connected Environments
• Implementation
• Conclusion