Application of Ellipse Limit-Cycle Navigation to Fast Mobile Robots
In a highly dynamical environment, such as robotic soccer, robots must in real-time make its next position to intercept the fast moving target as quickly as possible, and with obstacle-avoidance. This paper describes a computationally inexpensive, yet look-ahead navigating method for mobile robots. The linear trajectory of the target’s motion was achieved by least squares fit, the ellipse was established as the motion model for the target based on the linear trajectory, and the tangential point in the ellipse was accomplished as the predicted position navigating robot to go in every grabbing cycle. This method changes the mode of robot directly moving to the target into that of robot moving to the motion zone of the target. The experiment has presented that the robot can both reach the predicted destination with high speed and avoid high-speed obstacle smoothly.
Navigation Limit Cycle Mobile Robot Obstacle Avoidance
Fu Cheng Yingqing Ma
Mechatronic Institute of Liaoning Jidian Polytechnic, Dandong 118002, China
国际会议
The 22nd China Control and Decision Conference(2010年中国控制与决策会议)
徐州
英文
1434-1437
2010-05-26（万方平台首次上网日期，不代表论文的发表时间）