Obstacle Avoidance for Mobile Robots Using Predictive Polar Mapping

폴라 맵핑 예측기를 통한 이동로봇의 장애물 회피

This paper presents the predicted polar mapping that is to improve the efficiency of an unexpected moving obstacle detecting system. When the movement of the robot per a step becomes a bit large then static objects or background are detected as moving objects. Thus, the velocity of the robot becomes so slow. Therefore, to enlarge the movement of the robot, we propose the predicted polar mapping that predicts the polar mapped image after robot moves to be admissible. In order to verify experimentally our proposed procedure, we make several comparative tests in the corridor.