대한전기학회:학술대회논문집 (Proceedings of the KIEE Conference)
- 대한전기학회 2004년도 학술대회 논문집 정보 및 제어부문
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- Pages.490-492
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- 2004
적외선 센서를 이용한 서브 골 생성에 의한 장애물 회피
Obstacle Avoidance by the Subgoal Generation Using the Infrared Sensors
- 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)
- 발행 : 2004.11.12
초록
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.