Proceedings of the KIEE Conference (대한전기학회:학술대회논문집)

The Korean Institute of Electrical Engineers (대한전기학회)
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Obstacle Avoidance for Mobile Robot using Circular Navigation with a Laser Scanner

곡률 주행을 이용한 이동 로봇의 장애물 회피 알고리즘

  • Lee, Jin-Seob (Department of Electrical and Computer Engineering, Ajou University) ;
  • Kim, Tae-Un (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) ;
  • 김태은 (아주대학교 전자공학과) ;
  • 좌동경 (아주대학교 전자공학과) ;
  • 홍석교 (아주대학교 전자공학과)
  • Published : 2008.07.16
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Abstract

This paper proposes a obstacle avoidance algorithm that enavles a mobile robot with autonomous. The proposed method based on circular navigation with probability distribution and finds local-paths to avoid collisions. Simulation results show the feasibility of the proposed method.

Keywords