Efficient path planning with limit cycle avoidance for mobile robot navigation

Abstract

Abstract-Autonomous navigation in an unknown environment may encounter the limit cycle problem causing lower efficiency when a mobile robot attempts to reach the goal while avoiding obstacles on the way. To cover a wider range of navigation tasks, this paper presents a novel waypoint navigation method in polar coordinate. Navigation limit cycle avoidance is handled by creating and memorizing a specific traversable but less preferred areas during waypoint navigation in which the robot changes its orientation to follow from goal-directed to opportunistic goal-repulsive behavior. This allows the robot to be able to predict, thus avoiding upcoming limit cycle situations. The saving of time and memory resources of path computation using the novel polar-coordinate based waypoint navigation has been verified by simulations, and an implementation of the navigation method on a real mobile robot works well in an indoor experiment with demonstrated planning and route selection capabilities for waypoint navigation.

Review of Vision-Based Robot Navigation Method

“…This method was originally used as a method to avoid the obstacle, and path planning, the robot manipulator. The general idea is to create a virtual, potential force field on an object that is 'seen' by the camera, from which will return virtually determined the field around the object that can be passed safely in order to navigate the robot [21]. Later in the progression to potential ban method, at every iteration step process is carried out to detect the possibility of a collision.…”