대한전기학회:학술대회논문집 (Proceedings of the KIEE Conference)
- 대한전기학회 2003년도 학술회의 논문집 정보 및 제어부문 A
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- Pages.243-246
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- 2003
Limit-cycle과 벡터장법을 이용한 이동로봇의 실시간 장애물 회피
A Real-time Obstacle Avoidance of Mobile Robots using Limit-cycle and Vector Field Method
- 발행 : 2003.11.21
초록
In this paper, we propose a novel navigation method combined limit-cycle method and the vector field method for avoidance of unexpected obstacles in the dynamic environment. The limit-cycle method is used to obstacle avoidance in front of the robot and the vector field method is used to obstacle avoidance in the side of robot. The proposed method is tested on pioneer 2-DX mobile robot. The simulations and experiments demonstrate in the effectiveness of the proposed method for navigation of a mobile robot in the complicated and dynamic environments.