대한전기학회:학술대회논문집 (Proceedings of the KIEE Conference)

대한전기학회 (The Korean Institute of Electrical Engineers)
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자율이동로봇의 동적 장애물 회피를 위한 효율적 방법

An Effective Approach to Dynamic Obstacle Avoidance for Mobile Robots

  • 최원철 (고려대학교 전기공학과) ;
  • 임정택 (고려대학교 전기공학과) ;
  • 김영증 (고려대학교 전기공학과) ;
  • 임묘택 (고려대학교 전기공학과)
  • 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
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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.

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