A simple reactive algorithm for miniature mobile robot navigation in the unknown environment with static obstacles

Yue Li; Qiang Huang; Junyao Gao; Xuandong Su; Jingchao Zhao; Liancun Zhang

doi:10.1109/ROBIO.2013.6739498

A simple reactive algorithm for miniature mobile robot navigation in the unknown environment with static obstacles

Yue Li, Qiang Huang, Junyao Gao, Xuandong Su, Jingchao Zhao, Liancun Zhang

School of Mechatronical Engineering

Beijing Institute of Technology

Research output: Contribution to conference › Paper › peer-review

1 Citation (Scopus)

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.

Original language	English
Pages	438-443
Number of pages	6
DOIs	https://doi.org/10.1109/ROBIO.2013.6739498
Publication status	Published - 2013
Event	2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013 - Shenzhen, China Duration: 12 Dec 2013 → 14 Dec 2013

Conference

Conference	2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013
Country/Territory	China
City	Shenzhen
Period	12/12/13 → 14/12/13

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Li, Y., Huang, Q., Gao, J., Su, X., Zhao, J., & Zhang, L. (2013). A simple reactive algorithm for miniature mobile robot navigation in the unknown environment with static obstacles. 438-443. Paper presented at 2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013, Shenzhen, China. https://doi.org/10.1109/ROBIO.2013.6739498

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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.",

author = "Yue Li and Qiang Huang and Junyao Gao and Xuandong Su and Jingchao Zhao and Liancun Zhang",

year = "2013",

doi = "10.1109/ROBIO.2013.6739498",

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AU - Zhang, Liancun

PY - 2013

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AB - 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.

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T2 - 2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013

Y2 - 12 December 2013 through 14 December 2013

ER -

A simple reactive algorithm for miniature mobile robot navigation in the unknown environment with static obstacles

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