Static Obstacles Avoidance of Autonomous Mobile Robots Based on Limit Cycle Approach
Résumé
Autonomous robot navigation is the subject of research in many disciplines. In this paper, we discuss the path planning method for obstacle avoidance based on the limit cycle, which has been shown to be effective in both static and dynamic environments. We focus the control architecture known as Limit Cycle, which generates robot trajectories defined by differential equations with proven stability through a Lyapunov function. This approach uses cylindrical bounding boxes around objects in the environment and implements reactive rules to avoid obstacles while respecting safety distances and avoiding deadlocks, local minima, and oscillations. An extension of this method, Parallel Elliptic Limit-Cycle, is also implemented, which is characterized by elliptic bounding boxes rather than cylindrical ones. Finally, results are provided to illustrate the effectiveness and merits of the proposed method for autonomous path planning.
Mots clés
Abstract: Autonomous robot navigation is the subject of research in many disciplines. In this paper
we discuss the path planning method for obstacle avoidance based on the limit cycle
which has been shown to be effective in both static and dynamic environments. We focus the control architecture known as Limit Cycle
which generates robot trajectories defined by differential equations with proven stability through a Lyapunov function. This approach uses cylindrical bounding boxes around objects in the environment and implements reactive rules to avoid obstacles while respecting safety distances and avoiding deadlocks
local minima
and oscillations. An extension of this method
Parallel Elliptic Limit-Cycle
is also implemented
which is characterized by elliptic bounding boxes rather than cylindrical ones. Finally
results are provided to illustrate the effectiveness and merits of the proposed method for autonomous path planning. Published in: 2023 IEEE International Conference on Advanced Systems and Emergent Technologies (IC_ASET) Date of Conference: 29 April 2023 - 01 May 2023 Date Added to IEEE Xplore: 20 June 2023 ISBN Information: INSPEC Accession Number: 23320379 DOI: 10.1109/IC_ASET58101.2023.10150527 Publisher: IEEE Conference Location: Hammamet
Tunisia I. Introduction Autonomous systems [1] have become a topic of growing interest for researchers and tech companies in recent decades
driven by advancements in technologies such as machine learning
deep learning [2]
control theory [3]
computer vision [4]
and signal processing. The goal of autonomous systems is to provide safer
cheaper
and more convenient transportation. They are equipped with functional modules such as perception
prediction
vehicle to vehicle communication [5]
planning [6]
and control to achieve this goal. Navigation is the most critical factor for autonomous systems
as it involves determining the system's position and planning a safe
collision- free path towards the destination in such an environment with critical conditions like wind
rain
snow… Sign in to Continue Reading IEEE Keywords Navigation
Limit-cycles
Differential equations
System recovery
Trajectory
Safety
Mobile robots
path planning
obstacle avoidance
limit-cycle
elliptic limit-cycle
mobile robotics