Browse > Article
http://dx.doi.org/10.13067/JKIECS.2012.7.1.187

Comparison of Collision Avoidance Algorithm for a Mobile Robot using a Simulation  

Kim, Kwang-Jin (조선대학교 대학원 정보통신공학과)
Ko, Nak-Yong (조선대학교 제어계측로봇공학과)
Park, Se-Seung (조선대학교 전자공학과)
Publication Information
The Journal of the Korea institute of electronic communication sciences / v.7, no.1, 2012 , pp. 187-194 More about this Journal
Abstract
This paper compares two collision avoidance algorithms using a simulator. The collision avoidance is vital for autonomous navigation of a mobile robot. Artificial potential field method and elastic force method are major approaches for the collision avoidance. The two algorithms are compared in the respect of the time for motion completion and the length of the motion path. The simulator is developed based on IPC(Inter Process Communication) and a differential drive mobile robot is used for the comparison.
Keywords
Mobile robot; Collision avoidance; Artificial potential field; Simulator;
Citations & Related Records
Times Cited By KSCI : 3  (Citation Analysis)
연도 인용수 순위
1 O. Khatib, "Real-time obstacle avoidance for manipulators and mobile robots," The Int. J. Robotics Research, Vol. 5, No. 1, pp. 90-98, Spring, 1986.
2 노성우, 고낙용, 김태균, "위치 추정, 충돌회피, 동작 계획이 융합된 이동로봇의 자율주행 기술 구현", 한국전자통신학회논문지, 6권, 1호, pp. 148-156, 2, 2011.
3 서동진, 노성우, 고낙용, "두 개의 거리 센서를 이용한 차륜형 로봇의 이동물체 추종제어", 한국전자통신학회논문지, 6권, 5호, pp. 765-773, 10, 2011.
4 Boernstein, J. and Koren, Y., "The vector field histogram-fast obstacle avoidance for mobile robots," IEEE Transaction on Robotics Automation, Vol. 7, No. 3, pp. 278-288, June, 1991.   DOI
5 Shi, Enxiu Cai, Tao He Changlin Guo, Junjie, ,"Study of the New Method for Improving Artificial Potential Field in Mobile Robot Obstacle Avoidance," Automation and Logistics IEEE International Conference on, pp. 282-286, Jinan, China, 2007.
6 Gong, Jianwei Duan, Yulin Man, Yiming Xiong, Guangming, "VPH+:An Enhanced Vector Polar Histogram Method for Mobile Robot Obstacle Avoidance," Mecharonics and Automation, ICMA 2007 International Conference on, pp. 2784-2788, Harbin, China, 2007.
7 R. G. Simmons, "The Curvature-Velocity Method for Local Obstacle Avoidance," In 1996 IEEE International Conference on Robotics and Automation, pp. 3375-3382, Minneapolis MN, April 1996.
8 Ko, Nak Yong and Bum Hee Lee, "Avoidability Measure in Moving Obstacle Avoidance Problem and Its Use for Robot Motion Planning," International Conference in Intelligent Robots and Systems(IROS 1996), pp. 1296-1303, 1996.
9 Brock, O, Khatib, O. "Elastic Strips : A Framework for motion Generation in Human Environments," International Journal of Robotics Research, Vol. 21, No. 12, pp. 1031-1052, Dec, 2002..   DOI
10 Nak Yong Ko, Reid G. Simmons and Dong Jin Seo, "Trajectory Modification Using Elastic Force for Collision Avoidance of a mobile Manipulator," 9th Pacific Rim International Conference on Artificial Intelligence(PRICAI 2006), Vol. 4099, pp. 190-199, 2006.
11 Nak Yong Ko, Dong Jin Seo et al, "3-Dimensional Simulator for Multiple Robot System using TCP-IP," The IASTED Conference on Software Engineering, pp. 130-135, 2007.
12 배영철, 박종규, "카오스 이론에 기반한 포메이 션 제어를 위한 다중 카오스 로봇의 장해물 회피 및 동기화에 관한 연구", 한국전자통신학회논문지, 5권, 5호, pp. 534-540, 10, 2010.