A real-time limit-cycle navigation method for fast mobile robots and its application to robot soccer

@article{Kim2002ARL,
  title={A real-time limit-cycle navigation method for fast mobile robots and its application to robot soccer},
  author={Dong-Han Kim and Jong-Hwan Kim},
  journal={Robotics and Autonomous Systems},
  year={2002},
  volume={42},
  pages={17-30}
}
10 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… CONTINUE READING
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