대한전기학회:학술대회논문집 (Proceedings of the KIEE Conference)
- 대한전기학회 2003년도 하계학술대회 논문집 D
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- Pages.2381-2383
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- 2003
자율이동로봇의 동적 장애물 회피를 위한 효율적 방법
An Effective Approach to Dynamic Obstacle Avoidance for Mobile Robots
- Choi, Wonl-Chul (Department of Electrical Engineering, Korea University) ;
- Lim, Jung-Taek (Department of Electrical Engineering, Korea University) ;
- Kim, Young-Joong (Department of Electrical Engineering, Korea University) ;
- Lim, Myo-Taeg (Department of Electrical Engineering, Korea University)
- 발행 : 2003.07.21
초록
This paper presents an effective approach to dynamic obstacle avoidance for mobile robot. The main concept of this approach includes modified polar mapping for recognition of the moving obstacle in vision-based robot systems. To simplify the segmentation of the moving obstacle from the background and to obtain its relative position data the modified polar mapping is proposed. Dynamic moving obstacles are avoided with a vision sensor and stationary obstacles are avoided with a sonar sensor.
키워드