Proceedings of the KIEE Conference (대한전기학회:학술대회논문집)

The Korean Institute of Electrical Engineers (대한전기학회)
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Probability Distribution-Based Object Avoidance with a Laser Scanner

확률 분포 기반의 레이저 스캐너를 이용한 장애물 회피

  • Lee, Jin-Seob (Department of Electrical and Computer Engineering, Ajou University) ;
  • Kwon, Ji-Wook (Department of Electrical and Computer Engineering, Ajou University) ;
  • Chwa, Dong-Kyoung (Department of Electrical and Computer Engineering, Ajou University) ;
  • Hong, Suk-Kyo (Department of Electrical and Computer Engineering, Ajou University)
  • 이진섭 (아주대학교 전자공학과) ;
  • 권지욱 (아주대학교 전자공학과) ;
  • 좌동경 (아주대학교 전자공학과) ;
  • 홍석교 (아주대학교 전자공학과)
  • Published : 2007.10.26
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Abstract

This paper proposes a object avoidance algorithm that enables a mobile robot with laser scanner. Object detecting system has a function to detect object in front of the mobile robot by using a laser scanner. The proposed method based on probability distribution and finds local-paths to avoid collisions. Simulation results show the feasibility of the proposed method.

Keywords