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navigation in unknown dynamic environments

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A simple biologically inspired algorithm for collision-free navigation of a unicycle-like robot in dynamic environments with moving obstacles
Andrey V. Savkin, Chao Wang
Journal:

Robotica / Volume 31 / Issue 6 / September 2013

Published online by Cambridge University Press:

01 May 2013, pp. 993-1001
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We present a simple biologically inspired strategy for the navigation of a unicycle-like robot towards a target while avoiding collisions with moving obstacles. A mathematically rigorous analysis of the proposed approach is provided. The performance of the algorithm is demonstrated via experiments with a real robot and extensive computer simulations.