An algorithm has been developed that efficiently solves a large class of robot navigation and obstacle avoidance problems using range information as its sole input from the environment. The system resides in a minicomputer and requires very small memory (1500 words) and computing time (1.35 s) allocations while solving simulated problems of broadly ranging spatial complexity and operational intricacy. It is thus a prime candidate for use in mobile robots or manipulators where real-time operation is desired.
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Cahn et al. (1975) studied this question.
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