레인 방법에 기반한 이동 로봇의 장애물 회피

도현민; 김용식; 김봉근; 이재훈; 오바 코타로

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자료유형: 학술저널

저자정보: 도현민 (일본산업기술종합연구소) 김용식 (일본산업기술종합연구소) 김봉근 (일본산업기술종합연구소) 이재훈 (Ehime University) 오바 코타로 (AIST)

저널정보: 한국로봇학회(논문지) 로봇학회 논문지 로봇공학회 논문지 제4권 제2호

발행연도: 2009.6

수록면: 121 - 129 (9page)

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This paper presents a goal-directed reactive obstacle avoidance method based on lane method. The reactive collision avoidance is necessarily required for a robot to navigate autonomously in dynamic environments. Many methods are suggested to implement this concept and one of them is the lane method. The lane method divides the environment into lanes and then chooses the best lane to follow. The proposed method does not use the discrete lane but chooses a line closest to the original target line without collision when an obstacle is detected, thus it has a merit in the aspect of running time and it is more proper for narrow corridor environment. If an obstacle disturbs the movement of a robot by blocking a target path, a robot generates a temporary target line, which is parallel to an original target line and tangential to an obstacle circle, to avoid a collision with an obstacle and changes to and follows that line until an obstacle is removed. After an obstacle is clear, a robot returns to an original target line and proceeds to the goal point. Obstacleis recognized by laser range finder sensor and represented by a circle. Our method has been implemented and tested in a corridor environment and experimental results show that our method can work reliably.

#Autonomous Navigation #Obstacle Avoidance #Lane Method #Dynamic Environments

참고문헌 (9)

참고문헌 신청

1. [단행본] - S.M. Lavalle / 2006 / Planning Algorithms / Cambridge University Press

2. [학술지(정기간행물)] - O.Khatib / 1986 / Real-Time Obstacle Avoidance for Manipulators and Mobile Robots / The International Journal of Robotics Research 5 (1) : 90 ~ 98

3. [학술지(정기간행물)] - J. Borenstein / 1991 / The Vector Field Histogram -Fast Obstacle Avoidance for Mobile Robots / IEEE Transactions on Robotics and Automation 7 (3) : 278 ~ 288

4. [학술지(정기간행물)] - D. Fox / 1997 / The Dynamics Window Approach to Collision Avoidance / IEEE Robotics & Automation Magazine 4 (1) : 23 ~ 33

5. [단행본] - N. Y. Ko / 1998 / The Lane-Curvature Method for Local Obstacle Avoidance / IEEE/RSJ Int’l Conf. on Intelligent Robots and Systems

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