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Path Planning Algorithm Based on the Limit-Cycle Navigation Method Applied to the Edge of Obstacles

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Trends in Intelligent Robotics (FIRA 2010)

Part of the book series: Communications in Computer and Information Science ((CCIS,volume 103))

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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 goal while avoiding polygonal-shaped static obstacles. Effectively to avoid such obstacles, a path planned near the obstacle is much shorter than a path planned far from the obstacle. The proposed method can be applied to two situations: when the obstacle and the robot differ in size; and when there are two obstacles. The efficiency of the proposed algorithm was verified through a set of simulations and experiments. Consequently, the proposed limit-cycle method is more effective than the original limit-cycle algorithm.

This research was carried out under the General R/D Program of the Daegu Gyeongbuk Institute of Science and Technology(DGIST), funded by the Ministry of Education, Science and Technology(MEST) of the Republic of Korea.

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References

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Author information

Authors and Affiliations

  1. Department of Electronics and Information, Kyunghee University, Seocheon-Dong, Kiheung-Gu, Yongin-Si, 449-701, South Korea

    Y. W. Lim, Y. H. Kim & D. H. Kim

  2. Pragmatic Applied Robot Institute, Daegu Gyeongbuk Institute Science and Technology, TP Venture Plant #1 and 2, 75 2-Gil North Complex, Dalseo-Gu, Daegu, 704-948, South Korea

    J. U. An

Authors
  1. Y. W. Lim
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  2. Y. H. Kim
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  3. J. U. An
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  4. D. H. Kim
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Editor information

Editors and Affiliations

  1. National University of Singapore, Singapore

    Prahlad Vadakkepat  & Tan Kok Kiong  & 

  2. Dept. of Electrical Engineering and Computer Science, Korea Advanced Institute of Science and Technology, Daejeon, South Korea

    Jong-Hwan Kim

  3. Technische Universität Dortmund, Dortmund, Germany

    Norbert Jesse

  4. Department of Electrical and Computer Engineering, National University of Singapore, 4 Engineering Drive 3, 117576, Singapore

    Abdullah Al Mamun

  5. Department of Computer Science, University of Manitoba, R3T 2N2, Winnipeg, Manitoba, Canada

    Jacky Baltes  & John Anderson  & 

  6. Dept. of Education in Technology & Science, Technion - Israel Institute of Technology, 32000, Haifa, Israel

    Igor Verner

  7. Trinity College, Hartford, CT, USA

    David Ahlgren

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© 2010 Springer-Verlag Berlin Heidelberg

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Lim, Y.W., Kim, Y.H., An, J.U., Kim, D.H. (2010). Path Planning Algorithm Based on the Limit-Cycle Navigation Method Applied to the Edge of Obstacles. In: Vadakkepat, P., et al. Trends in Intelligent Robotics. FIRA 2010. Communications in Computer and Information Science, vol 103. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-15810-0_29

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  • DOI: https://doi.org/10.1007/978-3-642-15810-0_29

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-15809-4

  • Online ISBN: 978-3-642-15810-0

  • eBook Packages: Computer ScienceComputer Science (R0)

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