Cited 0 time in webofscience Cited 2 time in scopus

Path planning algorithm based on the limit-cycle navigation method applied to the edge of obstacles

Title
Path planning algorithm based on the limit-cycle navigation method applied to the edge of obstacles
Authors
Lim, Yun WonKim, Yong HoAn, Jin UngKim, Dong Han
DGIST Authors
An, Jin Ung
Issue Date
2010
Citation
13th FIRA Robot World Congress on Trends in Intelligent Robotics, FIRA 2010, 103 CCIS, 226-233
Type
Conference
Article Type
Conference Paper
ISBN
3642158099
ISSN
1865-0929
Abstract
This UGV (Unmanned Ground Vehicle) is not only widely used in various practical applications but is also currently being researched in many disciplines. In particular, obstacle avoidance is considered one of the most important technologies in the navigation of an unmanned vehicle. In this paper, we introduce a simple algorithm for path planning in order to reach a goal while avoiding polygonal-shaped static obstacles. Effectively to avoid such obstacles, a path planned near the obstacle is much shorter than a path planned far from the obstacle. The proposed method can be applied to two situations: when the obstacle and the robot differ in size; and when there are two obstacles. The efficiency of the proposed algorithm was verified through a set of simulations and experiments. Consequently, the proposed limit-cycle method is more effective than the original limit-cycle algorithm. © 2010 Springer-Verlag.
URI
http://hdl.handle.net/20.500.11750/1847
DOI
10.1007/978-3-642-15810-0_29
Publisher
Springer Verlag
Related Researcher
Files:
There are no files associated with this item.
Collection:
Convergence Research Center for Wellness2. Conference Papers


qrcode mendeley

Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.

BROWSE