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

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Circle List-Based Obstacle Avoidance for Omni-directional Mobile Robots in Dynamic Environments

동적 환경에서의 전방위 이동 로봇을 위한 서클 리스트(Circle List) 기반의 장애물 회피

  • Received : 2010.12.15
  • Accepted : 2011.10.05
  • Published : 2011.12.01
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Abstract

An effective method of obstacle avoidance for omni-directional mobile robots is proposed to avoid moving obstacles in dynamic environments. Our method uses the concept of circle lists which represent the trajectories of robot and obstacles. This method predicts not only collision position but also collision time, and hence it enables the robot avoiding the most urgent collision first. In order to avoid obstacles, our method uses artificial repulsive force and contraction force. Simulation results show that the robot could avoid obstacles effectively.

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References

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