한국정밀공학회지 (Journal of the Korean Society for Precision Engineering)

  • 제17권7호
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  • Pages.113-123
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  • 2000
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  • 1225-9071(pISSN)
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  • 2287-8769(eISSN)
한국정밀공학회 (Korean Society for Precision Engineering)
권호 표지

장애물 패턴을 이용한 자율이동로봇의 예측주행 및 충돌회피 알고리즘 개발

Development of an Algorithm for Predictable Navigation and Collision Avoidance Using Pattern Recognition of an Obstacle in Autonomous Mobile Robot

  • 이민철 (부산대학교 기계공학부, 기계기술연구소) ;
  • 김범재 (삼림산업(주)) ;
  • 이석 (부산대학교 기계공학부, 기계기술연구소)
  • 발행 : 2000.07.01
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초록

In the navigation for a mobile robot, the collision avoidance with unexpected obstacles is essential for the safe navigation and it is independent of the technique used to control the mobile robot. This paper presents a new collision avoidance algorithm using neural network for the safe navigation of the autonomous mobile robot equipped with CAN and ultrasonic sensors. A tracked wheeled mobile robot has a stability and an efficiency to move on a rough ground. And its mechanism is simple. However it has difficulties to recognize its surroundings. Because the shape of the tracked wheeled mobile robot is a square type, sensor modules are generally located on the each plane surface of 4 sides only. In this paper, the algorithm using neural network is proposed in order to avoid unexpected obstacles. The important character of the proposed algorithm is to be able to detect the distance and the angle of inclination of obstacles. Only using datum of the distance and the angle, informations about the location and shape of obstacles are obtained, and then the driving direction is changed. Consequently, this algorithm is capable of real time processing and available for a mobile robot which has few sensor modules or the limited sensing range such as a tracked wheeled mobile robot. Effectiveness of the proposed algorithm is illustrated through a computer simulation and an experiment using a real robot.

키워드

참고문헌

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