Dynamic Obstacle Avoidance Using Vector Function Algorithm
Yongho Kim, Jeong-Wan Kim, Byung‐Cheol Min, Donghan Kim · ICEIC : International Conference on Electronics, Informations and Communications · 2010
Although a recently introduced limit-cycle navigation method has demonstrated great performance, the method also has the significant drawback of not being able to handle dynamic obstacles. To overcome such a shortcoming, this paper discusses an algorithm to avoid dynamic obstacles. The proposed algorithm is mainly composed of a collision detection algorithm and an existing limit-cycle navigation method. The collision detection algorithm is based on a vector function that indicates the initial positions and destinations of the robot and obstacles. After processing the collision detection algorithm, the position and time of a collision can be predicted. Then, this information is used by the limit-cycle navigation method to generate a path to avoid the collision with the obstacle. To verify the performance of the proposed algorithm, several experiments were conducted using simulations.