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Multi-robot Navigation in Unknown Cluttered Environments

其他書名	Application to Radiation Detection
出版	ProQuest Dissertations & Theses, 2022
ISBN	9798780617372
URL	http://books.google.com.hk/books?id=M5gQzwEACAAJ&hl=&source=gbs_api

註釋This work leverages the previous worked performed on developing the radiation detection theory and optimal motion strategies for point robots moving in a known/obstacle-free environments and extends it to include full dynamics of the moving platform. These platforms can navigate in a completely unknown environment using real-time onboard perception capabilities. A computationally efficient receding horizon planning strategy generates dynamically feasible motion plans reactively, to steer the robot towards any static or moving destination. Although mission safety takes precedence in such scenarios, the motion of the platform is designed to give best possible decision-making performance. The receding horizon planning approach has been further extended and integrated with navigation function based global planners to provide exactness and convergence guarantees in scenarios where the robot can get trapped in local-minima without the knowledge of the environment.