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A real-time limit-cycle navigation method for fast mobile robots and its application to robot soccer
- Source :
-
Robotics & Autonomous Systems . Jan2003, Vol. 42 Issue 1, p17. 14p. - Publication Year :
- 2003
-
Abstract
- A mobile robot should be designed to navigate with collision avoidance capability in the real world, flexibly coping with the changing environment. In this paper, a novel limit-cycle navigation method is proposed for a fast mobile robot using the limit-cycle characteristics of a 2nd-order nonlinear function. It can be applied to the robot operating in a dynamically changing environment, such as in a robot soccer system. By adjusting the radius of the motion circle and the direction of obstacle avoidance, the navigation method proposed enables a robot to maneuver smoothly towards any desired destination. Simulations and real experiments using a robot soccer system demonstrate the merits and practical applicability of the proposed method. [Copyright &y& Elsevier]
- Subjects :
- *MOBILE robots
*ROBOTICS
*NAVIGATION
Subjects
Details
- Language :
- English
- ISSN :
- 09218890
- Volume :
- 42
- Issue :
- 1
- Database :
- Academic Search Index
- Journal :
- Robotics & Autonomous Systems
- Publication Type :
- Academic Journal
- Accession number :
- 8762695
- Full Text :
- https://doi.org/10.1016/S0921-8890(02)00311-1