Local-Path Planning Using the Limit-cycle Navigation Method with the Edge Detection Method
Yun-Won Lim, Jeong-Wan Kim, Sang-Yep Nam, Donghan Kim · ICEIC : International Conference on Electronics, Informations and Communications · 2010
In this paper, we introduce a simple algorithm for path planning in order to reach a destination while avoiding a polygonal-shaped static obstacle. To effectively avoid such an obstacle, a path planned near the obstacle is much shorter than a path planned far from the obstacle, on the condition that both paths guarantee that the robot will not collide with the obstacle. So, to generate a path near the obstacle, we have developed an algorithm that combines an edge detection method and a limit-cycle navigation method. The edge detection method, based on a trigonometric function, finds an obstacle’s edge, and the limit-cycle navigation method generates a path that is smooth enough to reach a detected obstacle’s edge. Finally, we verify performances of the proposed algorithm through a simulation.