DOI QR코드

DOI QR Code

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

Abstract

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.

Keywords

References

  1. S. H. Nam and S. B. Moon, "Minimal turning path planning for clean robots employing flow networks," Journal of Control, Automation, and Systems Engineering(in Korean), vol. 11, no. 9, pp. 789-794, Sep. 2005 https://doi.org/10.5302/J.ICROS.2005.11.9.789
  2. K. H. Rew and D. H. Kim, "Enhancement of complex potential navigation method for obstacle avoidance of mobile robot," Journal of Institute of Control, Robotics and Systems(in Korean), vol. 15, no. 4, pp. 385-389, Apr. 2009. https://doi.org/10.5302/J.ICROS.2009.15.4.385
  3. S. S. Ge and Y. J. Cui, "Dynamic motion planning for mobile robots using potential field method," Autonomous Robots, vol. 13, no. 3, pp. 207-222, Nov. 2002. https://doi.org/10.1023/A:1020564024509
  4. J. Rossell and P. Iniguez, "Path planning using Harmonic functions and probabilistic cell decomposition," Proc. of the 2005 IEEE International Conference on Robotics and Automation, Barcelona, Spain, pp. 1803-1808, Apr. 2005. https://doi.org/10.1109/ROBOT.2005.1570375
  5. H. Xiaoxi and C. Leiting, "Path planning based on grid-potential fields," International Conference on Computer Science and Software Engineering, vol. 2, pp. 1114-1116, Dec. 2008.
  6. B. You, J. Qiu, and D. Li, "A novel obstacle avoidance me thod for low-cost household mobile robot," Proc. of the IE EE International Conference on Automation and Logistics, Qingdao, China, pp. 111-116, Sep. 2008.
  7. S. M. Chen, S. Nie, and C. F. Sun, "Motion planning of mobile robot based on artificial potential field in fuzzy space," Journal of Nanchang University-Engineering and Technology Edition, vol. 32, no. 2, pp. 192-195, Jun. 2010.
  8. X. J. Zhao, J. Bi, and L. Chen, "The study of soccer robot path planning based on grid-based potential field method improvements," Journal of Advanced Materials Research, vol. 139-141, pp. 1798-1802, Oct. 2010. https://doi.org/10.4028/www.scientific.net/AMR.139-141.1798
  9. D. H. Kim and J. H. Kim, "A real-time limit-cycle navigation method for fast mobile robots and its application to robot soccer," Robotics and Autonomous Systems, vol. 42, pp. 17-30, Jan. 2003. https://doi.org/10.1016/S0921-8890(02)00311-1
  10. D. H. Kim and K. H. Rew, "Limit-cycle navigation method for fast mobile robots," Journal of Institute of Control, Robotics and Systems(in Korean), vol. 14, no. 11, pp. 1130-1138, Nov. 2008. https://doi.org/10.5302/J.ICROS.2008.14.11.1130
  11. Hassan K Khalil, Nonlinear System, 2nd Ed., Prentice Hall, 1996.
  12. Y. W. Lim and D. H. Kim, "Path planning algorithm based on the limit-cycle navigation method applied to the edge of obstacles," Proc. of Trends in Intelligent Robotics 13th FIRA Robot World Congress, Bangalore, India, vol. 103, no. 4, pp. 226-233, Sep. 2010.
  13. N. Agrawal and T. Jain, "Real time vision guided reactive strategies for micro robot soccer," B.S. thesis, Dept. Electrical Eng., Indian Institute of Technology, Kanpur, India, 2000.