A Real-time Obstacle Avoidance of Mobile Robots using Limit-cycle and Vector Field Method

Limit-cycle과 벡터장법을 이용한 이동로봇의 실시간 장애물 회피

In this paper, we propose a novel navigation method combined limit-cycle method and the vector field method for avoidance of unexpected obstacles in the dynamic environment. The limit-cycle method is used to obstacle avoidance in front of the robot and the vector field method is used to obstacle avoidance in the side of robot. The proposed method is tested on pioneer 2-DX mobile robot. The simulations and experiments demonstrate in the effectiveness of the proposed method for navigation of a mobile robot in the complicated and dynamic environments.