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http://dx.doi.org/10.9708/jksci.2013.18.1.011

Implementing Dynamic Obstacle Avoidance of Autonomous Multi-Mobile Robot System  

Kim, Dong W. (Dept. of Digital Electronics, INHA Technical College)
Yi, Cho-Ho (Dept. of Digital Electronics, INHA Technical College)
Publication Information
Journal of the Korea Society of Computer and Information / v.18, no.1, 2013 , pp. 11-19 More about this Journal
Abstract
For an autonomous multi-mobile robot system, path planning and collision avoidance are important functions used to perform a given task collaboratively and cooperatively. This study considers these important and challenging problems. The proposed approach is based on a potential field method and fuzzy logic system. First, a global path planner selects the paths of the robots that minimize the cost function from each robot to its own target using a potential field. Then, a local path planner modifies the path and orientation from the global planner to avoid collisions with static and dynamic obstacles using a fuzzy logic system. In this paper, each robot independently selects its destination and considers other robots as dynamic obstacles, and there is no need to predict the motion of obstacles. This process continues until the corresponding target of each robot is found. To test this method, an autonomous multi-mobile robot simulator (AMMRS) is developed, and both simulation-based and experimental results are given. The results show that the path planning and collision avoidance strategies are effective and useful for multi-mobile robot systems.
Keywords
Autonomous; Multi-mobile robot system; global; local path planner;
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Times Cited By KSCI : 2  (Citation Analysis)
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