Dynamic Obstacle-avoidance Path Planning for Mobile Robot Based on Limit-cycle Navigation Method
Yingqing Ma · Science Technology and Engineering · 2007
A novel method for improving the dynamic effectiveness of in-time path planning of mobile robots is proposed.Firstly,the motion trajectory model of the ball is achieved based on least squares fit,and the ellipse limit-cycle presenting the motion of the ball is configured referring to the linear motion model.Then,the robot moves to the tangent point achieved by drawing the tangents from the robot position to the ellipse,and finally accomplish the intercepting behavior in the ellipse.This method changes the mode of robot directly moving to the ball into that of the robot moving to the moving zone of the ball,and enables the robot to avoid high-speed moving obstacles smoothly and reach the desired destination with very high speed.The effectiveness of the proposed method is verified by simulations and experiments in robot soccer competition.