대한전기학회:학술대회논문집 (Proceedings of the KIEE Conference)

대한전기학회 (The Korean Institute of Electrical Engineers)
권호 표지

곡률 주행을 이용한 이동 로봇의 장애물 회피 알고리즘

Obstacle Avoidance for Mobile Robot using Circular Navigation with a Laser Scanner

  • 이진섭 (아주대학교 전자공학과) ;
  • 김태은 (아주대학교 전자공학과) ;
  • 좌동경 (아주대학교 전자공학과) ;
  • 홍석교 (아주대학교 전자공학과)
  • Lee, Jin-Seob (Department of Electrical and Computer Engineering, Ajou University) ;
  • Kim, Tae-Un (Department of Electrical and Computer Engineering, Ajou University) ;
  • Chwa, Dong-Kyoung (Department of Electrical and Computer Engineering, Ajou University) ;
  • Hong, Suk-Kyo (Department of Electrical and Computer Engineering, Ajou University)
  • 발행 : 2008.07.16
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초록

This paper proposes a obstacle avoidance algorithm that enavles a mobile robot with autonomous. The proposed method based on circular navigation with probability distribution and finds local-paths to avoid collisions. Simulation results show the feasibility of the proposed method.

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