Obstacle＇s Intention Inference using the Grid-type Map

격자형 환경 모델을 이용한 장애물의 의도 추론

In this paper, we propose an inference method for understanding intention of obstacle for collision avoidance using the grid-type map. In order to represent the environment using ultrasonic sensors, the grid-type map is first constructed. Then we detect the obstacle and infer the intention for collision avoidance using the CLA(Centroid of Largest Area) point of the grid-type map. To verify the proposed method, some experiments are performed.