Limit-cycle 항법과 모서리 검출을 기반으로 하는 UGV를 위한 계획 경로 알고리즘

Abstract

This UGV (Unmanned Ground Vehicle) is not only widely used in various practical applications but is also currently beingresearched in many disciplines. In particular, obstacle avoidance is considered one of the most important technologies in thenavigation of an unmanned vehicle. In this paper, we introduce a simple algorithm for path planning in order to reach a destinationwhile avoiding a polygonal-shaped static obstacle. To effectively avoid such an obstacle, a path planned near the obstacle is muchshorter than a path planned far from the obstacle, on the condition that both paths guarantee that the robot will not collide with theobstacle. So, to generate a path near the obstacle, we have developed an algorithm that combines an edge detection method and alimit-cycle navigation method. The edge detection method, based on Hough Transform and IR sensors, finds an obstacle's edge, andthe limit-cycle navigation method generates a path that is smooth enough to reach a detected obstacle's edge. And we proposed novelalgorithm to solve local minima using the virtual wall in the local vision. Finally, we verify performances of the proposed algorithmthrough simulations and experiments. © ICROS 2011.