• Title/Summary/Keyword: Local obstacle avoidance method

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Path Planning Algorithm for UGVs Based on the Edge Detecting and Limit-cycle Navigation Method (Limit-cycle 항법과 모서리 검출을 기반으로 하는 UGV를 위한 계획 경로 알고리즘)

  • Lim, Yun-Won;Jeong, Jin-Su;An, Jin-Ung;Kim, Dong-Han
    • Journal of Institute of Control, Robotics and Systems
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    • v.17 no.5
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    • pp.471-478
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    • 2011
  • This UGV (Unmanned Ground Vehicle) is not only widely used in various practical applications but is also currently being researched in many disciplines. In particular, obstacle avoidance is considered one of the most important technologies in the navigation of an unmanned vehicle. In this paper, we introduce a simple algorithm for path planning in order to reach a destination while avoiding a polygonal-shaped static obstacle. To effectively avoid such an obstacle, a path planned near the obstacle is much shorter than a path planned far from the obstacle, on the condition that both paths guarantee that the robot will not collide with the obstacle. So, to generate a path near the obstacle, we have developed an algorithm that combines an edge detection method and a limit-cycle navigation method. The edge detection method, based on Hough Transform and IR sensors, finds an obstacle's edge, and the limit-cycle navigation method generates a path that is smooth enough to reach a detected obstacle's edge. And we proposed novel algorithm to solve local minima using the virtual wall in the local vision. Finally, we verify performances of the proposed algorithm through simulations and experiments.

Escaping Route Method in a Trap Situation for Local Path Planning (로컬 경로 계획을 위한 포텐셜 함수 기반의 가상 탈출 루트 연구)

  • Kim, Dong-Hun;Lee, Hyun-Woo
    • Proceedings of the KIEE Conference
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    • 2006.07d
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    • pp.1989-1990
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    • 2006
  • This paper presents an escaping route method in a trap situation (a case that the robot is trapped in a local minimum by the potential of obstacles). In this scheme, the APFs for path planning have a multiplicative and auditive configuration between APFs for goal destination and APFs for obstacle avoidance unlike conventional configuration where APFs for obstacle avoidance is added to APFs for goal destination. The virtual escaping route method is proposed to allow a robot to escape from a local minimum in trap situation where the total forces composed of repulsive forces by obstacles and attractive force by a goal are zero.

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Local Obstacle Avoidance Method of Mobile Robot Using Virtual Distance Function (가상 거리 함수를 이용한 이동 로봇의 지역 장애물 회피 방법)

  • 임춘환;김성철;편석범
    • Journal of the Korean Institute of Telematics and Electronics T
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    • v.35T no.3
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    • pp.67-75
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    • 1998
  • This paper presents a new robot motion planning method for moving obstacle avoidance. To consider the mobility of a moving obstacle, we define virtual distance function(VDF) between the robot and the obstacle. At each sampling time, we use the VDF to construct an artificial potential, considering the motion of obstacles. The robot moves according to the repulsive and attractive force vector induced by the artificial potential function. The proposed algorithm can be driven the robot to avoid moving obstacles in real time. Some simulation studies show the effectiveness of the proposed method.

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A Study on the Obstacle Avoidance and Path Planning Algorithm of Multiple Mobile Robot (다중이동로봇의 장애물 회피 및 경로계획 알고리즘에 관한 연구)

  • 박경진;이기성;이종수
    • Proceedings of the IEEK Conference
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    • 2000.06e
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    • pp.31-34
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    • 2000
  • In this paper, we design an optimal path for multiple mobile robots. For this purpose, we propose a new method of path planning for multiple mobile robots in dynamic environment. First, every mobile robot searches a global path using a distance transform algorithm. Then we put subgoals at crooked path points and optimize them. And finally to obtain an optimal on-line local path, ever)r mobile robot searches a new path with static and dynamic obstacle avoidance.

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Collision Avoidance for an Autonomous Mobile Robot Using Genetic Algorithms (유전 알고리즘을 이용한 자율 주행 로봇의 장애물 호피)

  • 이기성;조현철
    • Journal of the Korean Institute of Intelligent Systems
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    • v.8 no.4
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    • pp.27-35
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    • 1998
  • Navigation is a method to direct a mobile robot without collision when traversing the environment. This is to reach a destination without getting lost. In this paper, global and local path planning in fixed obstacle and moving obstacle using genetic algorithm are presented. First, mobile robot searches optimal global path using genetic algorithm without falling into local minima. Then if it finds a unknown obstacle, it searches new path without crashing obstacle. Also if there is a moving obstacle, mobile robot searches new optimal path without colliding with the obstacles. Various simulation results show the proposed algorithm can search a shortest path effectively.

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The Study of Algorithm for the Path generation in the Obstacles Environment (장애물 환경에서 경로 생성을 위한 알고리즘 연구)

  • 황하성;양승윤;이만형
    • Proceedings of the Korean Society of Precision Engineering Conference
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    • 1996.11a
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    • pp.430-433
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    • 1996
  • In This paper, we design the developed path generation method which is named that CBPM(Continuous path generation method Based artificial Potential field) that is able to be used in the obstacles environment. This CBPM is designed so that it puts together two obstacle avoidance algorithm-the continuous path generation method and the artificial potential field method. Here, the continuous path generation method generate the safety path using continuous path curvature. But, this method has demerits when used in obstacles environment in which are closely located. Another method which is named the artificial potential field method generates the path with the artificial potential field in the obstacles environment. But, APFM has local minima in certain places and unnecessarily calculates the path in which obstacles are not located. So, the developed path generation method, CBPM, is suggested and performances in many different obstacles environments are shown by using computer simulation.

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A New Approach to Real-Time Obstacle Avoidance of a Mobile Robot (이동 로봇의 실시간 장애물 회피를 위한 새로운 방법)

  • 고낙용
    • Journal of the Korean Society of Manufacturing Technology Engineers
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    • v.7 no.4
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    • pp.28-34
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    • 1998
  • This paper presents a new method for local obstacle avoidance of indoor mobile robots. The method combines a directional approach called the lane method and a velocity space approach. The lane method divides working area into lanes and then chooses the best lane to follow for efficient and collision-free movement. Then, the heading direction to enter and follow the best lane is decided, and translational and rotational velocity considering physical limitations of a mobile robot are determined. Since this method combines both the directional and velocity space method, it shows collision-free motion as well as smooth motion taking the dynamic of the robot into account.

Motion Planning of an Autonomous Mobile Robot in Flexible Manufacturing Systems

  • Kim, Yoo-Seok-;Lee, Jang-Gyu-
    • Proceedings of the Korean Institute of Intelligent Systems Conference
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    • 1993.06a
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    • pp.1254-1257
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    • 1993
  • Presented in this paper is a newly developed motion planning method of an autonomous mobile robot(MAR) which can be applied to flexible manufacturing systems(FMS). The mobile robot is designed for transporting tools and workpieces between a set-up station and machines according to production schedules of the whole FMS. The proposed method is implemented based on an earlier developed real-time obstacle avoidance method which employs Kohonen network for pattern classification of sonar readings and fuzzy logic for local path planning. Particulary, a novel obstacle avoidance method for moving objects using a collision index, collision possibility measure, is described. Our method has been tested on the SNU mobile robot. The experimental results show that the robot successfully navigates to its target while avoiding moving objects.

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Obstacle Avoidance Algorithm for a Network-based Autonomous Mobile Robot

  • Sohn, Sook-Yung;Kim, Hong-Ryeol;Kim, Dae-Won;Kim, Hong-Seok;Lee, Ho-Gil
    • 제어로봇시스템학회:학술대회논문집
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    • 2004.08a
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    • pp.831-833
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    • 2004
  • In this paper, an obstacle avoidance algorithm is proposed for a network-based robot considering network delay by distribution. The proposed algorithm is based on the VFH(Vector Field Histogram) algorithm, and for the network-based robot system, in which it is assumed robot localization information is transmitted through network communication. In this paper, target vector for the VFH algorithm is estimated through the robot localization information and the measurement of its delay by distribution. The delay measurement is performed by time-stamp method. To synchronize all local clocks of the nodes distributed on the network, a global clock synchronization method is adopted. With the delay measurement, the robot localization estimation is performed by calculating the kinematics of the robot. The validation of the proposed algorithm is performed through the performance comparison of the obstacle avoidance between the proposed algorithm and the existing VFH algorithm on the network-based autonomous mobile robot.

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Obstacle Avoidance Algorithm Development for Network-Based Autonomous Mobile Robots (네트워크 기반 자율이동로봇의 장애물 회피 알고리즘 개발)

  • Sohn, Soo-Kyung;Kim, Joo-Min;Kim, Hong-Ryeol;Kim, Dae-Won;Yang, Kwang-Woong
    • Proceedings of the KIEE Conference
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    • 2004.07d
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    • pp.2435-2437
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    • 2004
  • In this paper, an obstacle avoidance algorithm is proposed for a network-based robot considering network delay by distribution. The proposed algorithm is based on the VFH(Vector Field Histogram) algorithm, and for the network-based robot system, in which it is assumed robot localization information is transmitted through network communication. In this paper, target vector for the VFH algorithm is estimated through the robot localization information and the measurement of its delay by distribution. The delay measurement is performed by time-stamp method. To synchronize all local clocks of the nodes distributed on the network, a global clock synchronization method is adopted. With the delay measurement, the robot localization estimation is performed by calculating the kinematics of the robot. The validation of the proposed algorithm is performed through the performance comparison of the obstacle avoidance between the proposed algorithm and the existing VFH algorithm on the network-based autonomous mobile robot.

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