조명전기설비학회논문지 (Journal of the Korean Institute of Illuminating and Electrical Installation Engineers)

  • 제24권10호
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  • Pages.163-173
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  • 2010
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  • 1229-4691(pISSN)
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  • 2287-5034(eISSN)
한국조명전기설비학회 (The Korean Institute of IIIuminating and Electrical Installation Engineers)
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멀티 모바일 로봇 시스템의 충돌회피 경로 계획 : 퍼지 및 포텐셜 필드 방법 적용

Collision Avoidance Path Planning for Multi-Mobile Robot System : Fuzzy and Potential Field Method Employed

  • 투고 : 2010.09.03
  • 심사 : 2010.10.19
  • 발행 : 2010.10.31
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초록

In multi-mobile robot environment, path planning and collision avoidance are important issue to perform a given task collaboratively and cooperatively. The proposed approach is based on a potential field method and fuzzy logic system. For a global path planner, potential field method is employed to select proper path of a corresponding robot and fuzzy logic system is utilized to avoid collisions with static or dynamic obstacles around the robot. This process is continued until the corresponding target of each robot is reached. To test this method, several simulation-based experimental results are given. The results show that the path planning and collision avoidance strategies are effective and useful for multi-mobile robot systems.

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참고문헌

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