ELA: 가변 형상 구조로봇의 자율주행을 위한 실시간 장애물 회피 기법

ELA: Real-time Obstacle Avoidance for Autonomous Navigation of Variable Configuration Rescue Robots

  • 정해관 (한국과학기술원 기계항공시스템학부 기계공학전공) ;
  • 현경학 (한국과학기술원 기계항공시스템학부 기계공학전공) ;
  • 김수현 (한국과학기술원 기계항공시스템학부) ;
  • 곽윤근 (한국과학기술원 기계항공시스템학부)
  • 발행 : 2008.08.29

초록

We propose a novel real-time obstacle avoidance method for rescue robots. This method, named the ELA(Emergency Level Around), permits the detection of unknown obstacles and avoids collisions while simultaneously steering the mobile robot toward safe position. In the ELA, we consider two sensor modules, PSD(Position Sensitive Detector) infrared sensors taking charge of obstacle detection in short distance and LMS(Laser Measurement System) in long distance respectively. Hence if a robot recognizes an obstacle ahead by PSD infrared sensors first, and judges impossibility to overcome the obstacle based on driving mode decision process, the order of priority is transferred to LMS which collects data of radial distance centered on the robot to avoid the confronted obstacle. After gathering radial information, the ELA algorithm estimates emergency level around a robot and generates a polar histogram based on the emergency level to judge where the optimal free space is. Finally, steering angle is determined to guarantee rotation to randomly direction as well as robot width for safe avoidance. Simulation results from wandering in closed local area which includes various obstacles and different conditions demonstrate the power of the ELA.

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