Journal of the Korean Society of Manufacturing Technology Engineers (한국생산제조학회지)
- Volume 7 Issue 4
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- Pages.28-34
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- 1998
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- 2508-5093(pISSN)
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- 2508-5107(eISSN)
A New Approach to Real-Time Obstacle Avoidance of a Mobile Robot
이동 로봇의 실시간 장애물 회피를 위한 새로운 방법
Abstract
This paper presents a new method for local obstacle avoidance of indoor mobile robots. The method combines a directional approach called the lane method and a velocity space approach. The lane method divides working area into lanes and then chooses the best lane to follow for efficient and collision-free movement. Then, the heading direction to enter and follow the best lane is decided, and translational and rotational velocity considering physical limitations of a mobile robot are determined. Since this method combines both the directional and velocity space method, it shows collision-free motion as well as smooth motion taking the dynamic of the robot into account.
Keywords