@inproceedings{23f3b52cc8b842029dd3ca038011675a,
title = "POTBUG: A mind's eye approach to providing BUG-like guarantees for adaptive obstacle navigation using dynamic potential fields",
abstract = "The problem we address is adaptive obstacle navigation for autonomous robotic agents in an unknown or dynamically changing environment with a 2-D travel surface without the use of a global map. Two well known but hitherto apparently antithetical approaches to the problem, potential fields and BUG algorithms, are synthesised here. The best of both approaches is attempted by combining a Mind's Eye with dynamic potential fields and BUG-like travel modes. The resulting approach, using only sensed goal directions and obstacle distances relative to the robot, is compatible with a wide variety of robots and provides robust BUG-like guarantees for successful navigation of obstacles. Simulation experiments are reported for both near-sighted (POTBUG) and far-sighted (POTSMOOTH) robots. The results are shown to support the theoretical design's intentions that the guarantees persist in the face of significant sensor perturbation and that they may also be attained with smoother paths than existing BUG paths.",
author = "Michael Weir and Anthony Buck and Jon Lewis",
year = "2006",
doi = "10.1007/11840541_20",
language = "English",
isbn = "3-540-38608-4",
series = "Lecture Notes in Computer Science",
publisher = "Springer-Verlag",
pages = "239--250",
editor = "S Nolfi and G Baldassarre and R Calabretta and JCT Hallam and D Marocco and JA Meyer and O Miglino and O Parisi",
booktitle = "From Animals to Animats 9",
address = "Germany",
note = "9th International Conference on Simulation of Adaptive Behaviour, SAB 2006 ; Conference date: 25-09-2006 Through 29-09-2006",
}