Transactions of the Korean Society of Machine Tool Engineers (한국공작기계학회논문집)

The Korean Society of Manufacturing Technology Engineers (한국생산제조학회)
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A Study on the Real-Time Obstacle Avoidance Using Elastic Force

탄성력을 이용한 실시간 장애물 회피에 관한 연구

  • 최경현 (제주대학교 메카트로닉스공학과) ;
  • 조수정 (제주대학교 기계에너지시스템공학부 대학원) ;
  • 양형찬 (제주대학교 기계에너지시스템공학부 대학원)
  • Published : 2007.10.15
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Abstract

This paper proposes the Elastic force application on the obstacle avoidance of Silvermate robots. The method deals with the problem associated with a Silvermate robot driving to a goal configuration as avoiding obstacles. The initial trajectory of a robot is determined by a motion planner, and the trajectory modification is accomplished by adjusting the control points. The control points are obtained based on the elastic force approach. Consequently the trajectory of a robot is incrementally modified to maintain a smooth and adaptive trajectory in an environment with obstacles. The suggested algorithm drives the robot to avoid obstacle in real-time. Finally, The simulation studies are carried out to illustrate the effectiveness of the proposed approach.

Keywords

References

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