The virtual wall approach to limit cycle avoidance for unmanned ground vehicles

Abstract

Robot Navigation in unknown and very cluttered environments constitutes one of the key challenges in unmanned ground vehicle (UGV) applications. Navigational limit cycles can occur when navigating (UGVs) using behavior-based or other reactive algorithms. Limit cycles occur when the robot is navigating towards the goal but enters an enclosure that has its… (More)
DOI: 10.1016/j.robot.2007.11.010

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