전자공학회논문지B (Journal of the Korean Institute of Telematics and Electronics B)
- 제33B권7호
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- Pages.1-10
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- 1996
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- 1016-135X(pISSN)
하이브리드 구조를 사용한 이동 로봇의 주행 방법
Navigation algorithm for a mobile robot by using the hybrid structure
- Park, Il (LG Electronics Media Communication Lab.) ;
- Kwon, Young D. (Dept. of E.E. POSTECH) ;
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Lee, Jin S.
(Dept. of E.E. POSTECH)
- 발행 : 1996.07.01
초록
There are many challenging problems in mobile robot navigation. As an example, a mobile robot may wander around in local minimum and may wiggle when it moves through a narrow corridor. In addition, the real time obstacle avoidance and the posture control of mobile robot are also very improtant problems. To address these problems, a navigation algorithm which is composed o freal time obstacle avoidance algorithm and a global path planner (GPP) that genrates the shortest path is presented. In this paper, the global path planner reduce the calculation time by reducing the dta to be handled. Also it can make a real time obstacle avoidance by using the fuzzy logic inference. So the presented algorithm provide a stable navigastion for the mobile robot when it fall into the unstable navigation.
키워드