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Design and Implementation of a Limit Cycle Negotiation Strategy for Robot Navigation

Title: Design and Implementation of a Limit Cycle Negotiation Strategy for Robot Navigation.
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Name(s): Ordonez, Camilo, author
Collins, Emmanuel G., Jr., professor directing thesis
Luongo, Cesar, outside committee member
Cartes, David, committee member
Moore, Carl, committee member
Department of Mechanical Engineering, degree granting department
Florida State University, degree granting institution
Type of Resource: text
Genre: Text
Issuance: monographic
Date Issued: 2006
Publisher: Florida State University
Place of Publication: Tallahassee, Florida
Physical Form: computer
online resource
Extent: 1 online resource
Language(s): English
Abstract/Description: Limit cycles can occur when navigating unmanned ground vehicles (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 opening in a direction opposite to the goal. The robot then becomes effectively trapped in the enclosure. This thesis presents a solution to the limit cycle problem for robot navigation in very cluttered environments, for example dense forests. These type of environments offer a challenge due to the diversity of shapes and sizes of deadlocks that are likely to appear. A simple deliberative algorithm for detecting and retracting from limit cycles is described. The algorithm uses spatial memory to detect the limit cycle. Once the limit cycle has been detected, a labeling operator is applied to a local map so that the obstacles that form the boundary of the deadlock enclosure are identified. Subsequently, the robot is directed outside the enclosure using a behavior based control system. Once it exits this region, the deadlocked area is designated as off-limits by means of a virtual wall. Finally, the robotic vehicle proceeds to its original target avoiding the virtual wall and the different obstacles that are found on its way. Simulation and experimental results demonstrate the effectiveness of the proposed method.
Identifier: FSU_migr_etd-2341 (IID)
Submitted Note: A Thesis Submitted to the Department of Mechanical Engineering in Partial FulfiLlment of the Requirements for the Degree of Master of Science.
Degree Awarded: Summer Semester, 2006.
Date of Defense: June 6, 2006.
Keywords: Limit Cycle, Local Minima, Behavior Robotics, Navigation Algorithms, Fuzzy Behavior Systems
Bibliography Note: Includes bibliographical references.
Advisory Committee: Emmanuel G. Collins, Jr., Professor Directing Thesis; Cesar Luongo, Outside Committee Member; David Cartes, Committee Member; Carl Moore, Committee Member.
Subject(s): Mechanical engineering
Persistent Link to This Record: http://purl.flvc.org/fsu/fd/FSU_migr_etd-2341
Owner Institution: FSU

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Ordonez, C. (2006). Design and Implementation of a Limit Cycle Negotiation Strategy for Robot Navigation. Retrieved from http://purl.flvc.org/fsu/fd/FSU_migr_etd-2341