Proceedings of the KIEE Conference (대한전기학회:학술대회논문집)
- 2003.11b
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- Pages.19-22
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- 2003
An Algorithm of Autonomous Navigation for Mobile Robot using Vision Sensor and Ultrasonic Sensor
비전 센서와 초음파 센서를 이용한 이동 로봇의 자율 주행 알고리즘
- Published : 2003.11.21
Abstract
This paper proposes an algorithm for navigation of an autonomous mobile robot with vision sensor. For obstacle avoidance, we used a curvature trajectory method. Using this method, translational and rotational speeds are controlled independently and the mobile robot traces a smooth curvature trajectory that consists of circle trajectories to a target point. While trying to avoid obstacles, the robot fan be goal-directed using curvature trajectory.