대한전기학회:학술대회논문집 (Proceedings of the KIEE Conference)
- 대한전기학회 2007년도 심포지엄 논문집 정보 및 제어부문
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- Pages.339-340
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- 2007
확률 분포 기반의 레이저 스캐너를 이용한 장애물 회피
Probability Distribution-Based Object Avoidance with a Laser Scanner
- 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)
- 발행 : 2007.10.26
초록
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.
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