A new Approach to Moving Obstacle Avoidance Problem of a Mobile Robot

  • 고낙용 (조선대학교 제어계측공학과)
  • Published : 1998.02.01

Abstract

This paper a new solution approach to moving obstacle avoidance problem of a mobile robot. A new concept avoidability measure (AVM) is defined to describe the state of a pair of a robot and an obstacle regarding the collision between them. As an AVM, virtual distance function (VDF), is derived as a function of the distance from the obstacle to the robot and outward speed of the obstacle relative to the robot. By keeping the virtual distance above some positive limit value, the robot avoids the obstacle. In terms of the VDF ,an artificial potential field is constructed to repel the robot away from the obstacle and to attract the robot toward a goal location. At every sampling time, the artificial potential field is updated and the force driving the robot is derived from the gradient of the artificial potential field. The suggested algorithm drives the robot to avoid moving obstacles in real time. Since the algorithm considers the mobility of the obstacle as well as the distance, it is effective for moving obstacle avoidance. Some simulation studies show the effectiveness of the proposed approach.

Keywords

References

  1. IEEE trans. Robotics and Automation v.6 no.2 Control for mobile robots in the presence of moving objects N. C. Griswold;J Eem
  2. IEEE trans. Robotics and Automation v.7 no.3 Hidden Markov model for dynamic obstacle avoidance of mobile robot navigation Q, Zhu
  3. IEEE trans. Robotics and Automation v.8 no.1 Locally efficient path planning in an uncertain, dynamic environment using a probabilistic model R. Sharma
  4. IEEE Trans. on Robotics and Automation v.5 no.1 A hierarchical strategy for path planning among moving obstacles K. Fujimura;H. Samet
  5. Proc. 1986 IEEE Int. Conf. Robotics Automat On multiple moving objects M. Erdmann;T. Lozano-Perez
  6. IEEE Trans. Syst., Man. Cybern. v.20 no.4 A unified approach for robot motion planning with moving polyhedral obstacles C. L. Shih;T. T. Lee;W. A. Gruver
  7. IEEE Trans. on System, Man, and Cybernetics v.19 no.5 Real-time obstacle avoidance for fast mobile robots J. Borenstein;Y. Koren
  8. IEEE Trans. on Robotics and Automation v.7 no.3 The vector field histogram-fast obstacle avoidance for mobile robots J. Borenstein;Y. Koren
  9. The Int. J. Robotics Research v.5 no.1 Real-time obstacle avoidance for manipulators and mobile robots O. Khatib
  10. SME Conf. Proc., Robotics Research: The Next Five Years and Beyond A generalized potential field approach to obstacle avoidance control B. H. Krogh
  11. IEEE Trans. on System, Man, and Cybernetics v.20 no.6 Manipulator control with superquadric artificial potential functions: Theory and experiments R. Volpe;P. Khosla
  12. IEEE Trans. on Robotics and Automation v.8 no.1 A potential field approach to path planning Y.K.Hwang;N. Ahuja
  13. IEEE Trans. on Robotics and Automation v.8 no.5 Exact robot navigation using artificial potential functions E. Rimon;D. E. Koditschek
  14. Proc. 1996 IEEE Int. Conf. on Robotics and Automation Acquisition of optimal action selection to avoid moving obstacles in autonomous mobile robot T. Aoki;T. Oka;T. Suzuki;S. Okuma
  15. Proc. 1996 International Conference on Intelligent Robots and Systems Virtual structures for high-precision cooperative mobile robot control Kan-Han Tan;M. Authony Lewis
  16. Proc. 1996 IEEE Int. Conf. on Robotics and Automation Collision avoidance among multiple automous mobile robots using LOCISS Y. Arai;S. Suzuki;S. Kotosaka;H. Asama;H. Kaetsu;I. Endo
  17. Proc. 1996 IEEE Int. Conf. on Robotics and Automation Study on cooperative positioning system R. Kurazume;S. Hirose;S. Nagata;N. Sashida