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

The Korean Society of Manufacturing Technology Engineers (한국생산제조학회)
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A Technology of Obstacle Avoidance of Mobile Robot

이동로봇의 장애물 회피기술

  • Oh, Se-Bong (Division of Mechanical System Eng., Graduate School, Kyungnam University) ;
  • Han, Sung-Hyun (Division of Mechanical System and Automation Eng., Kyungnam University)
  • Published : 2008.12.15
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Abstract

We propose a new technique for autonomous navigation and travelling of mobile robot based on ultrasonic sensors through the narrow labyrinth that leave only distance of a few centimeters on each side between the guides and the robot. In our current implementation the ultrasonic sensor system fires at a rate of 100 ms, that is, each of the 8 sensors fires once during each 100 ms interval. This is a very good firing rate, implemented here for optimal performance. This paper presents an extensively tested and verified solution to the problem of obstacle avoidance. Our solution is based on the optimal placement of ultrasonic sensors at strategic locations around the robot. Both the sensor location and the associated navigation algorithm are defined in such a way that only the accurate radial sonar data is used for accurate travelling.

Keywords

References

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