Path Planning Algorithm for UGVs Based on the Edge Detecting and Limit-cycle Navigation Method

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

  • 임윤원 (LIGNex1 Maritime 연구소) ;
  • 정진수 (TITENG 기술연구소) ;
  • 안진웅 (대구 경북 과학 기술원 실용로봇연구소) ;
  • 김동한 (경희대학교 전자공학과)
  • Received : 2010.02.20
  • Accepted : 2011.03.29
  • Published : 2011.05.01


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 destination while avoiding a polygonal-shaped static obstacle. To effectively avoid such an obstacle, a path planned near the obstacle is much shorter than a path planned far from the obstacle, on the condition that both paths guarantee that the robot will not collide with the obstacle. So, to generate a path near the obstacle, we have developed an algorithm that combines an edge detection method and a limit-cycle navigation method. The edge detection method, based on Hough Transform and IR sensors, finds an obstacle's edge, and the limit-cycle navigation method generates a path that is smooth enough to reach a detected obstacle's edge. And we proposed novel algorithm to solve local minima using the virtual wall in the local vision. Finally, we verify performances of the proposed algorithm through simulations and experiments.


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