전자공학회논문지B (Journal of the Korean Institute of Telematics and Electronics B)
- 제33B권12호
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- Pages.1-12
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- 1996
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- 1016-135X(pISSN)
거리 형태 히스토그램을 이용한 이동로보트의 장애물 회피 주행
Obstacle Avoidance Navigation Using Distance Profile Histogram
초록
A new local path planning algorithm using DPH (distance profile histogram) is suggested in this paper. The proposed method makes a grid type world map using distance values from multiple ultrasonic sensors and genrates local points through which the mobile robot can avoid obstcles safely. The DPH (distance profile historgram) represents geometrical arrangement of obstacles around the robot in the local polar coordinate system which is assumed to be atached to the robot. To control robot's navigation, a three-layered control structure is adopted. The proposed local path planning algorithm is placed on the top level. And a point-to-point translation controller takes the middle level. The bottom level consists of a velcoity servo and sonar driver modules which take charge of driving physical hardwares. The validity of the propsoed method is demonstated through several experiments.
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