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This paper suggests an integrated navigation system for an unmanned groundvehicle operating in an unknown cluttered environment. The navigator supportstime-critical mobility making it possible for a mobile robot to reach a targetfrom the first attempt without the need for a dedicated exploration and mappingstage. The robot only uses necessary and sufficient egocentric local sensorydata collected on its way to the target. The construction of the navigationstructure revolves around key properties of the harmonic potential fieldapproach to motion planning. The robots trajectory is well-behaved anddirect-to-the-goal. It contains only the minimum number of detours necessary toaccommodate the sensory data and maintain the robot in a safe, goal-orientedstate. The navigation structure is developed and its theoretical basis isexplained. Extensive experimental validation of its properties and performanceis carried-out using the X80 robotic platform

Sensor-based, time-critical mobility of autonomous robots in cluttered spaces: a harmonic potential approach