This paper presents a feasible formulation of reachability test for sensor-based navigation. It directly incorporates the distance sensor information and tolerates the sensing and control errors. The concept of obstacle range is proposed, and the intersection between obstacle ranges is investigated based on geometrical reasoning. The necessary and sufficient condition for reachability is derived, along with a reachability test algorithm. Based on obstacle ranges, the algorithm requires no analytical expression of obstacle boundaries. It is computationally efficient and can be applied to sensor-based autonomous robotic systems.
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