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Real Time Obstacle Avoidance for Mobile Robot Using Limit-Cycle and Vector Field Method

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Book cover Knowledge-Based Intelligent Information and Engineering Systems (KES 2006)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 4251))

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.

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References

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Author information

Authors and Affiliations

  1. School of Electronics, Telecommunication and Computer Engineering, Hankuk Aviation University, 200-1, Hwajeon-dong, Deokyang-gu, Koyang-city, Kyonggi-do, 412-791, Korea

    Min Seok Jie, Joong Hwan Baek & Kang Woong Lee

  2. School of Aerospace and mechanical engineering, Hankuk Aviation University, 200-1, Hwajeon-dong, Deokyang-gu, Koyang-city, Kyonggi-do, 412-791, Korea

    Yeh Sun Hong

Authors
  1. Min Seok Jie
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  2. Joong Hwan Baek
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  3. Yeh Sun Hong
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  4. Kang Woong Lee
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Editor information

Editors and Affiliations

  1. School of Design, Engineering and Computing, Bournemouth University, UK

    Bogdan Gabrys

  2. Centre for SMART Systems, School of Environment and Technology, University of Brighton, BN2 4GJ, Brighton, UK

    Robert J. Howlett

  3. School of Electrical and Information Engineering, Knowledge Based Intelligent Engineering Systems Centre, University of South Australia, Mawson Lakes, 5095, SA, Australia

    Lakhmi C. Jain

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© 2006 Springer-Verlag Berlin Heidelberg

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Jie, M.S., Baek, J.H., Hong, Y.S., Lee, K.W. (2006). Real Time Obstacle Avoidance for Mobile Robot Using Limit-Cycle and Vector Field Method. In: Gabrys, B., Howlett, R.J., Jain, L.C. (eds) Knowledge-Based Intelligent Information and Engineering Systems. KES 2006. Lecture Notes in Computer Science(), vol 4251. Springer, Berlin, Heidelberg. https://doi.org/10.1007/11892960_104

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  • DOI: https://doi.org/10.1007/11892960_104

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-46535-5

  • Online ISBN: 978-3-540-46536-2

  • eBook Packages: Computer ScienceComputer Science (R0)

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