mobile robot의 장애물 회피방법 개선

Improving on the Obstacle Avoidance Method for a Mobile Robot

  • 박종훈 (인하대학교 전기공학과) ;
  • 이우영 (인하대학교 전기공학과) ;
  • 허대정 (인하대학교 전기공학과) ;
  • 허욱열 (인하대학교 전기공학과)
  • 발행 : 2002.11.30

초록

This paper presents collision avoidance for mobile robots equipped with synchro-drive using curvature trajectory by the obstacle type. he new real-time obstacle avoidance method presents how to create a curvature trajectory in which dynamics of a mobile robot is considered we controlled translation and rotational velocity of the mobile robot. Using these two speeds with curvature trajectory, the mobile robot navigates to target point without collision. We consider that the robot going to curvature trajectory by obstacle size towards a goal location. The collision avoidance has been implemented and tested using pioneer2-dxe mobile robot.

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