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Navigating in Unknown Environment with Rectangular Obstacles
IEICE TRANSACTIONS on Fundamentals of Electronics, Communications and Computer Sciences
Publication Date: 1994/07/25
Print ISSN: 0916-8508
Type of Manuscript: PAPER
Category: Algorithms, Data Structures and Computational Complexity
robot navigation, unknown environment, rectangular obstacles, on-line algorithms, competitive algorithms,
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We study robot navigation in unknown environment with rectangular obstacles aligned with the x and y axes. We propose a strategy called the modified-bian heuristic, and analyze its efficiency. Let n be the distance between the start point and the target of robot navigation, and let k be the maximum side length among the obstacles in a scene. We show that if k=(o(n) and if the summation of the widths of the obstacles on the line crossing the target and along the y axis is o(n), then ratio of the total distance walked by the robot to the shortest path length between the start point and the target is at most arbitrarily close to 1+k/2, as n grows. For the same restrictions as above on the sizes of the obstacles, the ratio is also at most arbitrarily close to 1+3/4n, as n grows, where is the summation of lengths of the obstacles in y axis direction.