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http://dx.doi.org/10.3795/KSME-A.2015.39.6.549

Efficient Kinect Sensor-Based Reactive Path Planning Method for Autonomous Mobile Robots in Dynamic Environments  

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.)
Publication Information
Transactions of the Korean Society of Mechanical Engineers A / v.39, no.6, 2015 , pp. 549-559 More about this Journal
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.
Keywords
Mobile Robot; Kinect Sensor; Reactive Path Planning; Virtual Plane; Collision Avoidance; Sensor Fusion;
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Times Cited By KSCI : 1  (Citation Analysis)
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