Proposal and Experimental Verification of an Implicit Control Based Navigation Scheme in Unknown Environment for a Centipede Type Robot
Runze Xiao, Yusuke Tsunoda, and Koichi Osuka
2-1 Yamadaoka, Suita, Osaka 565-0871, Japan
In the past decades, robot navigation in an unknown environment has attracted extensive interest due to its tremendous application potential. However, most existing schemes rely on complex sensing systems and control systems to perceive and process the geometric and appearance information of the surrounding environment to avoid the collision, while making less use of the mechanical characteristics of the environment. In this research, in order to explore how to make a robot navigate in an unknown environment with minimal active control and minimal sensing by taking full advantage of the mechanical interactions from the environment, which is called implicit control in this study, we propose a centipede robot and its corresponding navigation scheme for navigating a 2D unknown environment without sensing information about the surrounding environment. In this scheme, the only observation input of this system is the goal direction information relative to the robot direction. Based on this scheme, we built a prototype robot and conducted navigation experiments in three environments with different levels of complexity. As a result, we obtained the navigation route map and navigation time distribution of each environment and analyzed the characteristics and applicability scenarios of the proposed navigation scheme compared to the traditional ones.
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