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Real Time Obstacle Avoidance for Mobile Robot Using Limit-Cycle and Vector Field Method
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Applications of Intelligent Sytems
Intelligent Signal Processing, Control and Robotics
Real Time Obstacle Avoidance for Mobile Robot Using Limit-Cycle and Vector Field Method
Min Seok Jie1  , Joong Hwan Baek1 , Yeh Sun Hong2 and Kang Woong Lee1
| (1) |
School of Electronics, Telecommunication and Computer Engineering, Hankuk Aviation University, 200-1, Hwajeon-dong, Deokyang-gu,
Koyang-city, Kyonggi-do, 412-791, Korea |
| (2) |
School of Aerospace and mechanical engineering, Hankuk Aviation University, 200-1, Hwajeon-dong, Deokyang-gu, Koyang-city,
Kyonggi-do, 412-791, Korea |
Abstract
In this paper, we propose a novel navigation method combined limit-cycle method and the vector field method for navigating
a mobile robot with avoiding unexpected obstacles in the dynamic environment. The limit-cycle method is applied to avoiding
obstacles placed in front of the robot and the vector field method is applied to avoiding obstacles placed on the side of
the robot. The proposed method is tested using Pioneer 2-DX mobile robot. Through both simulation and experiment, the effectiveness
of proposed methods for navigating a mobile robot in the dynamic environment is demonstrated.
Keywords: limit-cycle, vector field method, mobile robot, real time avoidance.
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