Transactions of the Korean Society of Mechanical Engineers A (대한기계학회논문집A)

The Korean Society of Mechanical Engineers (대한기계학회)
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Efficient Kinect Sensor-Based Reactive Path Planning Method for Autonomous Mobile Robots in Dynamic Environments

키넥트 센서를 이용한 동적 환경에서의 효율적인 이동로봇 반응경로계획 기법

  • Tuvshinjargal, Doopalam (Smart Autonomous System Lab, School of Mechanical & Automotive Engineering, Kunsan Nat'l Univ.) ;
  • Lee, Deok Jin (Smart Autonomous System Lab, School of Mechanical & Automotive Engineering, Kunsan Nat'l Univ.)
  • 두팔람 툽신자갈 (군산대학교 기계자동차공학부 스마트자율시스템연구실) ;
  • 이덕진 (군산대학교 기계자동차공학부 스마트자율시스템연구실)
  • Received : 2014.08.20
  • Accepted : 2015.04.08
  • Published : 2015.06.01
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Abstract

In this paper, an efficient dynamic reactive motion planning method for an autonomous vehicle in a dynamic environment is proposed. The purpose of the proposed method is to improve the robustness of autonomous robot motion planning capabilities within dynamic, uncertain environments by integrating a virtual plane-based reactive motion planning technique with a sensor fusion-based obstacle detection approach. The dynamic reactive motion planning method assumes a local observer in the virtual plane, which allows the effective transformation of complex dynamic planning problems into simple stationary ones proving the speed and orientation information between the robot and obstacles. In addition, the sensor fusion-based obstacle detection technique allows the pose estimation of moving obstacles using a Kinect sensor and sonar sensors, thus improving the accuracy and robustness of the reactive motion planning approach. The performance of the proposed method was demonstrated through not only simulation studies but also field experiments using multiple moving obstacles in hostile dynamic environments.

본 논문에서는 동적 움직임을 갖는 장애물이 위치한 주행환경에서 이동로봇의 충돌회피 기능을 포함하는 효율적인 반응경로계획 기법을 제안하고자 한다. 로봇의 동적 장애물과의 충돌회피 기능을 위해서 반응경로계획기법을 기반으로 키넥트센서를 이용한 센서융합기법의 보완을 통해서 자율주행의 강건성을 증대시키고자 하였다. 반응경로기법에서 사용된 접근방식은 동적장애물을 가상좌표평면에서 지역관측기개념을 이용하여 정적장애물로 좌표변환을 가능하게하며, 생성된 가상평면에서의 로봇과 장애물의 충돌 발생 가능한 속도와 경로의 운동학적 정보추출이 가능하게 된다. 또한 키넥트 센서 정보를 융합하여 장애물의 방향과 위치 정보를 추정하여 동적 환경에서의 주행성능의 정미도를 증대시키고자 하였다. 본 연구에서 제안 기술의 성능을 검증하기 위해서 임베디드 로봇플랫폼과 여러 개의 동적 장애물을 이용하여 시뮬레이션 해석 및 실험을 수행하였다.

Keywords

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