Journal of Mechanical Science and Technology

  • 제17권11호
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  • Pages.1693-1703
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  • 2003
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  • 1738-494X(pISSN)
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  • 1976-3824(eISSN)
대한기계학회 (The Korean Society of Mechanical Engineers)
권호 표지

A Lane Based Obstacle Avoidance Method for Mobile Robot Navigation

  • Ko, Nak-Yong (Department Information, Control, and Instrumentation Engineering and Factory Automation Center for parts of Vehicles, Chosun University) ;
  • Reid G. Simmons (School of Computer Science, Carnegie Mellon University) ;
  • Kim, Koung-Suk (Department Mechanical Information Engineering, Chosun University)
  • 발행 : 2003.11.01
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초록

This paper presents a new local obstacle avoidance method for indoor mobile robots. The method uses a new directional approach called the Lane Method. The Lane Method is combined with a velocity space method i.e., the Curvature-Velocity Method to form the Lane-Curvature Method (LCM). The Lane Method divides the work area into lanes, and then chooses the best lane to follow to optimize travel along a desired goal heading. A local heading is then calculated for entering and following the best lane, and CVM uses this local heading to determine the optimal translational and rotational velocities, considering some physical limitations and environmental constraint. By combining both the directional and velocity space methods, LCM yields safe collision-free motion as well as smooth motion taking the physical limitations of the robot motion into account.

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참고문헌

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