대한전기학회논문지:시스템및제어부문D (The Transactions of the Korean Institute of Electrical Engineers D)

대한전기학회 (The Korean Institute of Electrical Engineers)
권호 표지

다중 이동 로봇의 중앙 감시에 의한 충돌 회피 동작조정 방법

Method for Collision Avoidance Motion Coordination of Multiple Mobile Robots Using Central Observation

  • 고낙용 (조선대 정보 제어계측공학과) ;
  • 서동진 (조선대 대학원 제어계측공학과)
  • 발행 : 2003.04.01
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초록

This paper presents a new method driving multiple robots to their goal position without collision. Each robot adjusts its motion based on the information on the goal location, velocity, and position of the robot and the velocity and position of the .other robots. To consider the movement of the robots in a work area, we adopt the concept of avoidability measure. The avoidability measure figures the degree of how easily a robot can avoid other robots considering the following factors: the distance from the robot to the other robots, velocity of the robot and the other robots. To implement the concept in moving robot avoidance, relative distance between the robots is derived. Our method combines the relative distance with an artificial potential field method. The proposed method is simulated for several cases. The results show that the proposed method steers robots to open space anticipating the approach of other robots. In contrast, the usual potential field method sometimes fails preventing collision or causes hasty motion, because it initiates avoidance motion later than the proposed method. The proposed method can be used to move robots in a robot soccer team to their appropriate position without collision as fast as possible.

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참고문헌

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