Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Moving obstacle avoidance of a robot using avoidability measure

충돌 회피 가능도를 이용한 로봇의 이동 장애물 회피

  • Ko, Nak-Yong (Dept.of Control Instrumentation Engineering, Chosun University) ;
  • Lee, Beom-Hee (ERC-ACI, ASRI, Dept.of Electirc Engineering, Seoul National University)
  • 고낙용 (조선대학교 제어계측공학과) ;
  • 이범희 (서울대학교 전기공학부, ERC-ACI, ASRI)
  • Published : 1997.04.01
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Abstract

This paper presents a new solution approach to moving obstacle avoidance problem of a robot. A new concept, avoidability measure(AVM) is defined to describe the state of a pair of a robot and an obstacle regarding the collision between them. As an AVM, virtual distance function(VDF) is derived as a function of three state variables: the distance from the obstacle to the robot, outward speed of the obstacle relative to the robot, and outward speed of the robot relative to the obstacle. By keeping the virtual distance above some positive limit value, the robot avoids the obstacle. In terms of the VDF, an artificial potential is constructed to repel the robot away from the obstacle and to attract the robot toward a goal location. At every sampling time, the artificial potential field is updated and the force driving the robot is derived from the gradient of the artificial potential field. The suggested algorithm drives the robot to avoid a moving obstacle in real time. Since the algorithm considers the mobility of the obstacle and robot as well as the distance, it is effective for moving obstacle avoidance. Some simulation studies show the effectiveness of the proposed approach.

Keywords

References

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