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

  • 제12권7호
  • /
  • Pages.700-705
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  • 2006
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  • 1976-5622(pISSN)
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  • 2233-4335(eISSN)
제어로봇시스템학회 (Institute of Control, Robotics and Systems)
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골격지도에서 개별 목표를 갖는 두 이동로봇의 충돌 회피 알고리즘

A Collision Avoidance Algorithm for Two Mobile Robots with Independent Goals in Skeleton Map

  • 양동훈 (아주대학교 전자공학부) ;
  • 홍석교 (아주대학교 전자공학부)
  • 발행 : 2006.07.01
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초록

This paper proposes a collision avoidance algorithm for two mobile robots with independent goals in a same workspace. Using skeleton map, an environment is presented as a graph consisting of nodes and arcs. Robots generate the shortest set of paths using the combination of objective functions of the two robots. Path for collision avoidance of a robot can be selected among three class; the shortest path, detour, paths with a waiting time at safety points around crossing points. Simulation results are presented to verify the efficiency of the proposed algorithms.

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참고문헌

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