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http://dx.doi.org/10.5302/J.ICROS.2009.15.1.105

Mobile Robot Navigation Using Circular Path Planning Algorithm  

Han, Sung-Min (한국항공대학교 항공전자 및 정보통신공학부)
Lee, Kang-Woong (한국항공대학교 항공전자 및 정보통신공학부)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.15, no.1, 2009 , pp. 105-110 More about this Journal
Abstract
In this paper, we proposed a navigation algorithm of the mobile robot for obstacle avoidance using a circular path planning method. The proposed method makes circular paths in order to avoid obstacles in the front side of the mobile robot. An optimal path for approaching to the target is selected and the linear and angular speeds for stable moving of the mobile robot are controlled. Obstacles are detected by image processing which reduce image data obtained from a web camera. Performance of the proposed algorithm is shown by experiments with application to the Pioneer-2DX mobile robot.
Keywords
circular path planning; mobile robot navigation; obstacle avoidance; vision system;
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