An Behavior-based Robotics
Computer and Robot Vision
ICIRA '08 Proceedings of the First International Conference on Intelligent Robotics and Applications: Part I
Development of a new minimum avoidance system for a behavior-based mobile robot
Fuzzy Sets and Systems
Fusion of probabilistic A* algorithm and fuzzy inference system for robotic path planning
Artificial Intelligence Review
Evolving robotic path with genetically optimised fuzzy planner
International Journal of Computational Vision and Robotics
A new hybrid navigation algorithm for mobile robots in environments with incomplete knowledge
Knowledge-Based Systems
New Potential Functions with Random Force Algorithms Using Potential Field Method
Journal of Intelligent and Robotic Systems
An expert fuzzy cognitive map for reactive navigation of mobile robots
Fuzzy Sets and Systems
Robust Reactive Mobile Robot Navigation with Modified DWA+CG
Proceedings of Conference on Advances In Robotics
Journal of Intelligent & Fuzzy Systems: Applications in Engineering and Technology - Computational intelligence models for image processing and information reasoning
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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 opening in a direction opposite to the goal. The robot then becomes effectively trapped in the enclosure. This paper presents a solution named the Virtual Wall Approach (VWA) to the limit cycle problem for robot navigation in very cluttered environments. This algorithm is composed of three stages: detection, retraction, and avoidance. The detection stage uses spatial memory to identify the limit cycle. Once the limit cycle has been identified, a labeling operator is applied to a local map of the obstacle field to identify the obstacle or group of obstacles that are causing the deadlock enclosure. The retraction stage defines a waypoint for the robot outside the deadlock area. When the robot crosses the boundary of the deadlock enclosure, a virtual wall is placed near the endpoints of the enclosure to designate this area as off-limits. Finally, the robot activates a virtual sensor so that it can proceed to its original goal, avoiding the virtual wall and obstacles found on its way. Simulations, experiments, and analysis of the VWA implemented on top of a preference-based fuzzy behavior system demonstrate the effectiveness of the proposed method.