A Real-Time Obstacle Avoidance of Mobile Robot Using Nearness Diagram, Limit-Cycle and Vector Field Method
Pil Gyeom Kim, Yoonho Jung, Jae-Ho Yoon, Min-Seok Jie, Kang‐Woong Lee · The Journal of Advanced Navigation Technology · 2006
In this paper, we propose a novel navigation method combined Nearness Diagram, Limit-Cycle method and the Vector Field Method for avoidance of unexpected obstacles in the dynamic environment. The Limit-Cycle method is used to obstacle avoidance in front of the robot and the Vector Field Method is used to obstacle avoidance in the side of robot. And the Nearness Diagram Navigation is used to obstacle avoidance in the nearness area of the robot. The performance of the proposed method is demonstrate by simulations.