Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Limit-cycle Navigation Method for Fast Mobile Robots

이동로붓을 위한 Limit-cycle 항법

  • Published : 2008.11.01
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Abstract

A mobile robot should be designed to navigate with collision avoidance capability in the real world, coping with the changing environment flexibly. In this paper, a novel navigation method is proposed for fast moving mobile robots using limit-cycle characteristics of the 2nd-order nonlinear function. It can be applied to robots in dynamically changing environment such as the robot soccer. By adjusting the radius of the motion circle and the direction of the obstacle avoidance, the mobile robot can avoid the collision with obstacles and move to the destination point. To demonstrate the effectiveness and applicability, it is applied to the robot soccer. Simulations and real experiments ascertain the merits of the proposed method.

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References

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