Paper Info
Title
A Simple Reactive Algorithm For Miniature Mobile Robot Navigation In The Unknown Environment With Static Obstacles
Abstract
A simple, efficient and practical obstacle avoidance strategy for miniature mobile robot in the unknown environment is presented. In this paper, a series of virtual circles are approximated and gradually form the influence region based on the information of the unknown obstacle detected by the local sensing of robot. Then the limit cycle differential equations are used to define the robot's transitional trajectories from one influence circle to another which could avoid obstacle. Once no obstacle is detected in the direction of target, the robot escapes the influence circle by adding the limit cycle radius and heads for the target. By means of the experiment, which considers the unknown obstacle, demonstrates the effectiveness of the proposed method.
Year
DOI
Venue
2013
10.1109/ROBIO.2013.6739498
2013 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO)
Keywords
Field
DocType
mobile robots,differential equations
Obstacle avoidance,Differential equation,Obstacle,Robot control,Control theory,Limit cycle,Control engineering,Mobile robot navigation,Engineering,Robot,Mobile robot
Conference
Citations 
PageRank 
References 
0
0.34
8
Authors
6
Name
Order
Citations
PageRank
Yue Li100.34
Qiang Huang226691.95
Junyao Gao31410.88
Xuandong Su411.02
Jingchao Zhao532.18
Liancun Zhang602.03