제어로봇시스템학회:학술대회논문집
- 제어로봇시스템학회 2001년도 ICCAS
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- Pages.120.5-120
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- 2001
Obstacle Avoidance and Trap Recovery of Mobile Robot.
- hun, Hwang-Kyung (SungKyunKwan University) ;
- su, Lim-Kyung (SungKyunKwan University) ;
- yong, Kuc-Tae (SungKyunKwan University)
- 발행 : 2001.10.01
초록
This paper introduces an Adapative Goal Pertubation Method(AGPM) for mobile robots which can move safely without being locked in a trap situation. AGPM is a modified method of VFH(Vector Field Histrogram) that Borenstein has proposed. AGPM consists of Avoid-Trap-Mode, Escape-Trap-Mode and Check-Trap-Mode. Some results of the mobile robot that have 8 ultrasonic sensors are shown through simulations.
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