NDLI: Application of ellipse limit-cycle navigation to fast mobile robots

Content Provider	IEEE Xplore Digital Library
Author	Fu Cheng Yingqing Ma
Copyright Year	2010
Description	Author affiliation: Mechatronic Institute of Liaoning Jidian Polytechnic, Dandong 118002, China (Fu Cheng; Yingqing Ma)
Abstract	In a highly dynamical environment, such as robotic soccer, robots must in real-time make its next position to intercept the fast moving target as quickly as possible, and with obstacle-avoidance. This paper describes a computationally inexpensive, yet look-ahead navigating method for mobile robots. The linear trajectory of the target's motion was achieved by least squares fit, the ellipse was established as the motion model for the target based on the linear trajectory, and the tangential point in the ellipse was accomplished as the predicted position navigating robot to go in every grabbing cycle. This method changes the mode of robot directly moving to the target into that of robot moving to the motion zone of the target. The experiment has presented that the robot can both reach the predicted destination with high speed and avoid high-speed obstacle smoothly.
Starting Page	1434
Ending Page	1437
File Size	183087
Page Count	4
File Format	PDF
ISBN	9781424451814
DOI	10.1109/CCDC.2010.5498215
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-05-26
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Mobile Robot Mechatronics Navigation Predictive models Mobile robots Least squares methods Robot kinematics Limit-cycles Limit Cycle Trajectory Obstacle Avoidance Motion control Clocks
Content Type	Text
Resource Type	Article

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