Real-time obstacle avoidance for mobile robot

이동 로봇을 위한 실시간 충돌 회피

In this paper, a real-time obstacle avoidance for mobile robot based on the readings of the ultrasonic sensors is presented. The twenty eight ultrasonic sensors are arranged in ring and controlled by microprocessor. The readings of the ultrasonic sensor is converted into the virtual forces called repulsive forces, which are the elastic and damping forces. Then, the direction and speed of mobile robot in the cluttered environment are determined by the virtual forces. The effectiveness of the proposed method is verified from a series of simulation studies.