Trajectory Tracking in the Presence of Obstacles Using the Limit Cycle Navigation Method

This paper proposes a system for effecting trajectory tracking in combination with obstacle avoidance in mobile robotic systems. In robotics research, these two situations are typically considered as separate problems. This work approaches the problem by integrating classical trajectory following control schemes with Kim et al.'s limit cycle navigation method for obstacle avoidance. The use of artificial potential function methods for obstacle avoidance is purposely avoided so as to prevent the well-known problems of local minima associated with such schemes. The paper also addresses the problem of nonglobal obstacle sensing and proposes modifications to Kim et al.'s method for handling multiple, overlapping obstacles under local sensing conditions