Development of a New Moving Obstacle Avoidance Algorithm using a Delay-Time Compensation for a Network-based Autonomous Mobile Robot

네트워크 기반 자율 이동 로봇을 위한 시간지연 보상을 통한 새로운 동적 장애물 회피 알고리즘 개발

A development of a new moving obstacle avoidance algorithm using a delay-time Compensation for a network-based autonomous mobile robot is proposed in this paper. The moving obstacle avoidance algorithm is based on a Kalman filter through moving obstacle estimation and a Bezier curve for path generation. And, the network-based mobile robot, that is a unified system composed of distributed environmental sensors, mobile actuators, and controller, is compensated by a network delay compensation algorithm for degradation performance by network delay. The network delay compensation method by a sensor fusion using the Kalman filter is proposed for the localization of the robot to compensate both the delay of readings of an odometry and the delay of reading of environmental sensors. Through some simulation tests, the performance enhancement of the proposed algorithm in the viewpoint of efficient path generation and accurate goal point is shown here.