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http://dx.doi.org/10.13067/JKIECS.2012.7.2.401

Numerical Performance Analysis of Obstacle Avoidance Method for a Mobile Robot  

Kim, Kwang-Jin (조선대학교 제어계측로봇공학과)
Ko, Nak-Yong (조선대학교 제어계측로봇공학과)
Publication Information
The Journal of the Korea institute of electronic communication sciences / v.7, no.2, 2012 , pp. 401-407 More about this Journal
Abstract
This paper analyzes performance of major obstacle avoidance methods. For the analysis, numerical performance indexes are proposed: motion distance to goal point, motion time, distance to obstacles, and smoothness of the motion. Especially, the index of smoothness measures efficiency of the motion using the angular acceleration and jerk of the robot heading. Four major obstacle avoidance methods are compared in terms of the performance indexes. The four methods are artificial potential field(APF) method, elastic force(EF) method, APF with virtual distance, and EF with virtual distance. Through simulation, the four methods are compared and features of the methods are explored.
Keywords
Smoothness; Distance to obstacles; Motion distance; Motion time; Mobile Robot; Obstacle Avoidance;
Citations & Related Records
Times Cited By KSCI : 3  (Citation Analysis)
연도 인용수 순위
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