대한전기학회:학술대회논문집 (Proceedings of the KIEE Conference)
- 대한전기학회 2007년도 심포지엄 논문집 정보 및 제어부문
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- Pages.385-386
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- 2007
단일 레이저 스캐너를 이용한 모바일 로봇의 장애물 탐색 및 분리 알고리즘
Obstacle Detection and Classification Algorithm of Mobile Robots using a Single Laser Scanner
- Lee, Gi-Roung (Department of Electronic Engineering, Ajou University) ;
- Chwa, Dong-Kyoung (Department of Electronic Engineering, Ajou University) ;
- Hong, Suk-Kyo (Department of Electronic Engineering, Ajou University)
- 발행 : 2007.10.26
초록
This paper proposes obstacle detection and classification algorithm using a single laser scanner. The proposed algorithm searches the object singular points using a differential equation, and finds obstacle singular points shows a boundary of obstacle. And the proposed algorithm can classify object even if several obstacles overlapped. Simulation results show the feasibility of proposed algorithm using a single laser scanner, not using several laser scanners.
키워드