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http://dx.doi.org/10.5302/J.ICROS.2009.15.4.385

Enhancement of Complex Potential Navigation Method for Obstacle Avoidance of Mobile Robot  

Kim, Dong-Han (경희대학교 전자정보대학)
Rew, Keun-Ho (호서대학교 로봇공학과)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.15, no.4, 2009 , pp. 385-389 More about this Journal
Abstract
This paper deals with the enhancement of the complex potential navigation for wheeled mobile robots. The circle theorem from complex function theory is used to avoid an obstacle, and the enhancement to avoid multiple obstacles is proposed. The limit cycle navigation can be combined for robot to kick the ball to the intentioned direction. Avoiding step and superposing twin vortices can be applied to adjust the direction of robot's trajectory. The proposed method is verified through a set of simulation works, and the feasibilities for the enhancement of complex potential theory are successful.
Keywords
complex potential theory; limit cycle navigation; robot soccer; multiple obstacle avoidance;
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Times Cited By KSCI : 1  (Citation Analysis)
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