Proofs of the Technical Results Justifying a Biologically Inspired
  Algorithm for Reactive Navigation of Nonholonomic Robots in Maze-Like
  Environments

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Abstract

We present technical results justifying a method for guidance of a Dubins-like vehicle with saturated control towards a target in a steady simply connected maze-like environment. The vehicle always has access to to the target relative bearing angle and the distance to the nearest point of the maze if it is within the given sensor range. The proposed control law is composed by biologically inspired reflex-level rules. Mathematically rigorous analysis of this law is provided; its convergence and performance are confirmed by computer simulations and experiments with real robots.

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Most cited references 2

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Steering toward a goal by equalizing taus.

Brett R. Fajen (2001)

Steering toward a target can be controlled by equalizing the time-to-closure of the angle between the target and the direction of locomotion and the time-to-passage of the observer by the target. Two experiments required observers to steer through a computer-simulated environment toward a target depicted as either a floating cross that did not optically expand, a floating sphere that optically expanded or a grounded post that optically expanded. Experiment 1 revealed better performance in the post and sphere conditions, suggesting that steering is influenced by local optical expansion but not by perceived spatial target location or distance. Experiment 2 revealed differences in steering behavior between target types that suggested observers attempted to equalize time-to-closure and time-to-passage.