Proceedings of the KIEE Conference (대한전기학회:학술대회논문집)
- 2004.11c
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- Pages.490-492
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- 2004
Obstacle Avoidance by the Subgoal Generation Using the Infrared Sensors
적외선 센서를 이용한 서브 골 생성에 의한 장애물 회피
- Nakazawa, Kazuki (School of Electronics Engineering, Ajou University) ;
- Yang, Dong-Hoon (School of Electronics Engineering, Ajou University) ;
- Kim, Il-Teak (School of Electronics Engineering, Ajou University) ;
- Hong, Suk-Kyo (School of Electronics Engineering, Ajou University)
- Published : 2004.11.12
Abstract
This paper presents an obstacle avoidance of a mobile robot by the subgoal generation using infrared sensors. When an obstacle appears on the path which the robot is moving forward the robot has to get information, such as distance between the robot and the obstacle and the shape of the obstacle for avoidance behavior. Our collision avoidance algorithm needs the only distance between the robot and the obstacles. The distances are used for subgoal generation. Simulation results show that a robot can go to the goal, carrying out subgoal generation and avoiding obstacles.