Proceedings of the KIEE Conference (대한전기학회:학술대회논문집)

The Korean Institute of Electrical Engineers (대한전기학회)
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Obstacle avoidance control based on self-organization for swarm mobile robot

다개체 모바일 로봇의 자기조직화를 통한 장애물 회피 제어

  • Han, Byung-Jo (Dept. of Elec. Elec. & Inst. Eng. Hanyang University) ;
  • Park, Gi-Kwang (Dept. of Elec. Elec. & Inst. Eng. Hanyang University) ;
  • Kim, Hong-Pil (School of Control & Electrical Engineering, Kyungil University) ;
  • Yang, Hai-Won (Dept. of Elec. Elec. & Inst. Eng. Hanyang University)
  • 한병조 (한양대학교 전자전기제어계측공학과) ;
  • 박기광 (한양대학교 전자전기제어계측공학과) ;
  • 김홍필 (경일대학교 제어전기공학부) ;
  • 양해원 (한양대학교 전자전기제어계측공학과)
  • Published : 2009.07.14
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Abstract

This paper propose a mobile robot for the obstacle avoidance control. The proposed method based on self-organization method is a way to escape of obstacle. Optimal path planning and obstacle avoidance, depending on its final goal will arrive at exactly the mobile robot. Simulation results show the validity of the proposed method.

Keywords