Journal of the Institute of Convergence Signal Processing (융합신호처리학회논문지)

The Korea Institute of Convergence Signal Processing (한국융합신호처리학회)
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Study on Obstacle Avoidance Algorithm of Autonomous Mobile Robots Using Infrared Sensor and Camera

적외선센서와 카메라를 이용한 자율주행로봇의 장애물회피 알고리즘 연구

  • Jung Woo Sohn (School of Electronic Engineering, Kumoh National Institute of Technology) ;
  • Ho Sung Yun (School of Electronic Engineering, Kumoh National Institute of Technology) ;
  • Wansu Lim (School of Electronic Engineering, Kumoh National Institute of Technology)
  • 손정우 (금오공과대학교 전자공학부(항공기계융합전공)) ;
  • 윤호성 (금오공과대학교 전자공학부(항공기계융합전공)) ;
  • 임완수 (금오공과대학교 전자공학부(항공기계융합전공))
  • Received : 2023.09.11
  • Accepted : 2023.12.28
  • Published : 2023.12.31
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Abstract

This paper proposes an algorithm for autonomous mobile robots to effectively navigate obstacles. In order to detect obstacles infrared sensors and cameras are employed. The infrared sensor is utilized to calculate the distance to obstacles while the captured images from the camera are used to determine the width of obstacles. To compute obstacle width, binary image processing, contour detection, and the minimum area rectangle technique are employed. Using the distance to obstacles and obstacle width, the avoidance angle is calculated, and this angle is incorporated into steering control. The proposed obstacle avoidance algorithm was implemented on an autonomous robot, and experimental results demonstrated a maximum reduction in avoidance time by 8.5 seconds compared to using only infrared sensors when the obstacle width is 30cm.

본 논문은 자율주행 로봇이 효과적으로 장애물을 회피하기 위한 알고리즘을 제안하였다. 장애물을 인식하기 위해 적외선센서와 카메라를 활용하였다. 적외선센서는 장애물까지의 거리를 측정하고, 카메라로 촬영한 영상을 통해 장애물의 폭을 파악하였다. 장애물 폭을 계산하기 위해 이진화 처리, 윤곽선 검출 및 최소면적 직사각형 기법을 사용하였다. 장애물까지 거리와 장애물 폭을 이용하여 회피 각도를 계산하고, 이 회피 각도는 조향 제어에 적용하였다. 제안한 장애물 회피 알고리즘을 자율주행 로봇에 탑재하여 실험을 수행하였고, 적외선센서만을 사용한 경우에 비해 장애물 폭이 30cm일 때 회피 시간을 최대 8.5초 단축하였다.

Keywords

Acknowledgement

이 연구는 금오공과대학교 대학 연구과제비로 지원되었음(2022~2023)

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