A real-time limit-cycle navigation method for fast mobile robots and its application to robot soccer |
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Affiliation: | 1. Gynecology Service, Department of Surgery, Memorial Sloan Kettering Cancer Center, New York, NY, USA;2. Department of Obstetrics and Gynecology, Weill Cornell Medical College, New York, NY, USA |
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Abstract: | A mobile robot should be designed to navigate with collision avoidance capability in the real world, flexibly coping with the changing environment. In this paper, a novel limit-cycle navigation method is proposed for a fast mobile robot using the limit-cycle characteristics of a 2nd-order nonlinear function. It can be applied to the robot operating in a dynamically changing environment, such as in a robot soccer system. By adjusting the radius of the motion circle and the direction of obstacle avoidance, the navigation method proposed enables a robot to maneuver smoothly towards any desired destination. Simulations and real experiments using a robot soccer system demonstrate the merits and practical applicability of the proposed method. |
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