Proceedings of the KIEE Conference (대한전기학회:학술대회논문집)
- 1999.07g
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- Pages.3086-3088
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- 1999
Mobile Robot Navigation For Recovering Local Minimum Using Ultrasonic Sensor
초음파센서를 이용한 이동 로봇의 지역 최소 회복을 위한 주행 알고리즘
- Myung, Ki-Ho (School of Electronics Eng. Ajou University) ;
- Yang, Dong-Hoon (School of Electronics Eng. Ajou University) ;
- Yoo, Young-Dong (School of Electronics Eng. Ajou University) ;
- Hong, Suk-Kyo (School of Electronics Eng. Ajou University)
- Published : 1999.07.19
Abstract
An ultrasonic sensor is one of most popular sensor used to navigate mobile robots within environments containing obstacles. But many navigation algorithm have studied because of the drawback of ultrasonic sensor such that poor directionality, frequent misreadings, specular reflections. Also, the most crucial drawback of this algorithm, that is VFF, VFM, EDM, PFM, WFM, GFM etc. has been that the mobile robot may become trapped in a local minimum. In this paper, we present a theoretical study of a navigation algorithm which integrals a heuristic-search local minimum (or trap) recovery method with a vector-field based method to maneuver cylindric mobile robots in unknown of unstructured environments. Also, an autonomous mobile robot uses dead-reckoning to estimate the current position and orientation of a mobile robot.
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