대한전기학회:학술대회논문집 (Proceedings of the KIEE Conference)
- 대한전기학회 1999년도 추계학술대회 논문집 학회본부 B
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- Pages.627-629
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- 1999
초음파 센서와 퍼지로직을 이용한 이동로봇의 경로계획
A Path Planning of a Mobile Robot Using the Ultrasonic Sensor and Fuzzy Logic
- Park, Chang-Soo (HongIk Univ. Department of Electrical Control Engineering) ;
- Lee, Jong-Soo (HongIk Univ. Department of Electrical Control Engineering)
- 발행 : 1999.11.20
초록
The research fields of mobile robot consist of three parts. The first is path planning, the second is the application of new sensors, and the last is a combination of the communication technology and mobile robot. In this paper we treat the path-planning. We use a Bayesian probability map, Distance Transform and Fuzzy logic for a path-planning. DT and Fuzzy logic algorithms search for path in entire, continuous free space and unifies global path planning and local path planning. It is efficient and effective method when compared with navigators using traditional approaches.
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