대한전기학회:학술대회논문집 (Proceedings of the KIEE Conference)
- 대한전기학회 2005년도 심포지엄 논문집 정보 및 제어부문
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- Pages.266-268
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- 2005
포텐셜 함수를 이용한 자율주행 로봇의 장애물 회피에 관한 연구
Obstacle Avoidance Technique of the Autonomous Mobile Robot using Potential Function
- 발행 : 2005.05.14
초록
Recently, the ability of sensing obstacles by oneself and creating suitable moving path in mobile robots are required to provide various kinds automation services. Therefore, in this paper, we studied the avoidance behavior of mobile robots from dynamic obstacles using potential function that minimizes distance and time. We examined the performance of the proposed algorithm by comparing the method of based on the geometrical experience in simulations.