Path planning algorithm based on the limit-cycle navigation method applied to the edge of obstacles

Y. W. Lim; Y. H. Kim; J. U. An; D. H. Kim

doi:10.1007/978-3-642-15810-0_29

Path planning algorithm based on the limit-cycle navigation method applied to the edge of obstacles

Y. W. Lim, Y. H. Kim, J. U. An, D. H. Kim

Division of Intelligent Robot

Kyung Hee University

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

2 Scopus citations

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.

Original language	English
Title of host publication	Trends in Intelligent Robotics - 13th FIRA Robot World Congress, FIRA 2010, Proceedings
Pages	226-233
Number of pages	8
DOIs	https://doi.org/10.1007/978-3-642-15810-0_29
State	Published - 2010
Event	13th FIRA Robot World Congress on Trends in Intelligent Robotics, FIRA 2010 - Bangalore, India Duration: 15 Sep 2010 → 17 Sep 2010

Publication series

Name	Communications in Computer and Information Science
Volume	103 CCIS
ISSN (Print)	1865-0929

Conference

Conference	13th FIRA Robot World Congress on Trends in Intelligent Robotics, FIRA 2010
Country/Territory	India
City	Bangalore
Period	15/09/10 → 17/09/10

Bibliographical note

Funding Information:
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.

Keywords

Edge
Limit-cycle
Obstacle avoidance
Path planning
UGV

Access to Document

10.1007/978-3-642-15810-0_29

Cite this

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 Trends in Intelligent Robotics - 13th FIRA Robot World Congress, FIRA 2010, Proceedings (pp. 226-233). (Communications in Computer and Information Science; Vol. 103 CCIS). https://doi.org/10.1007/978-3-642-15810-0_29

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title = "Path planning algorithm based on the limit-cycle navigation method applied to the edge of obstacles",

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.",

keywords = "Edge, Limit-cycle, Obstacle avoidance, Path planning, UGV",

author = "Lim, {Y. W.} and Kim, {Y. H.} and An, {J. U.} and Kim, {D. H.}",

note = "Funding Information: 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.; 13th FIRA Robot World Congress on Trends in Intelligent Robotics, FIRA 2010 ; Conference date: 15-09-2010 Through 17-09-2010",

year = "2010",

doi = "10.1007/978-3-642-15810-0_29",

language = "English",

isbn = "3642158099",

series = "Communications in Computer and Information Science",

pages = "226--233",

booktitle = "Trends in Intelligent Robotics - 13th FIRA Robot World Congress, FIRA 2010, Proceedings",

}

Lim, YW, Kim, YH, An, JU & Kim, DH 2010, Path planning algorithm based on the limit-cycle navigation method applied to the edge of obstacles. in Trends in Intelligent Robotics - 13th FIRA Robot World Congress, FIRA 2010, Proceedings. Communications in Computer and Information Science, vol. 103 CCIS, pp. 226-233, 13th FIRA Robot World Congress on Trends in Intelligent Robotics, FIRA 2010, Bangalore, India, 15/09/10. https://doi.org/10.1007/978-3-642-15810-0_29

Path planning algorithm based on the limit-cycle navigation method applied to the edge of obstacles. / Lim, Y. W.; Kim, Y. H.; An, J. U. et al.
Trends in Intelligent Robotics - 13th FIRA Robot World Congress, FIRA 2010, Proceedings. 2010. p. 226-233 (Communications in Computer and Information Science; Vol. 103 CCIS).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Path planning algorithm based on the limit-cycle navigation method applied to the edge of obstacles

AU - Lim, Y. W.

AU - Kim, Y. H.

AU - An, J. U.

AU - Kim, D. H.

N1 - Funding Information: 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.

PY - 2010

Y1 - 2010

N2 - 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.

AB - 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.

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Y2 - 15 September 2010 through 17 September 2010

ER -

Path planning algorithm based on the limit-cycle navigation method applied to the edge of obstacles

Abstract

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Bibliographical note

Keywords

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