Proceedings of the KIEE Conference (대한전기학회:학술대회논문집)
- 2002.11c
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- Pages.146-149
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- 2002
Improving on the Obstacle Avoidance Method for a Mobile Robot
mobile robot의 장애물 회피방법 개선
- Park, Jong-Hun (Dept. of Electrical Engineering, Inha University) ;
- Lee, Woo-Young (Dept. of Electrical Engineering, Inha University) ;
- Huh, Dei-Jeung (Dept. of Electrical Engineering, Inha University) ;
- Huh, Uk-Youl (Dept. of Electrical Engineering, Inha University)
- Published : 2002.11.30
Abstract
This paper presents collision avoidance for mobile robots equipped with synchro-drive using curvature trajectory by the obstacle type. he new real-time obstacle avoidance method presents how to create a curvature trajectory in which dynamics of a mobile robot is considered we controlled translation and rotational velocity of the mobile robot. Using these two speeds with curvature trajectory, the mobile robot navigates to target point without collision. We consider that the robot going to curvature trajectory by obstacle size towards a goal location. The collision avoidance has been implemented and tested using pioneer2-dxe mobile robot.
Keywords