Journal of the Institute of Electronics Engineers of Korea SC (전자공학회논문지SC)

The Institute of Electronics and Information Engineers (대한전자공학회)
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Intelligent Navigation of a Mobile Robot in Dynamic Environments

동적환경에서 이동로봇의 지능적 운행

  • Heo, Hwa-Ra (Dept.of Electronics Engineering, Busan National University) ;
  • Park, Jae-Han (Dept.of Electronics Engineering, Busan National University) ;
  • Park, Seong-Hyeon (Dept.of Electronics Engineering, Busan National University) ;
  • Park, Jin-U (Dept.of Electronics Engineering, Busan National University) ;
  • Lee, Jang-Myeong (Dept.of Electronics Engineering, Busan National University)
  • Published : 2000.03.01
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Abstract

In this paper, we propose a navigation algorithm for a mobile robot, which is intelligently searching the goal location in unknown dynamic environments using an ultrasonic sensor. Instead of using "sensor fusion"method which generates the trajectory of a robot based upon the environment model and sensory data, "command fusion"method is used to govern the robot motions. The major factors for robot navigation are represented as a cost function. Using the data of the robot states and the environment, the weight value of each factor is determined for an optimal trajectory in dynamic environments. For the evaluation of the proposed algorithm, we peformed simulations in PC as well as real experiments with ZIRO. The results show that the proposed algorithm is apt to identify obstacles in unknown environments to guide the robot to the goal location safely.

Keywords

References

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