The Journal of Korea Robotics Society (로봇학회논문지)

Korea Robotics Society (한국로봇학회)
권호 표지

Experimental Verification of Obstacle Avoidance Algorithm ELA Applicable to Rescue Robots

구조로봇에 적합한 장애물 회피 알고리즘 ELA의 실험적 검증

  • 정해관 (한국과학기술원 기계기술연구소) ;
  • 현경학 (한국과학기술원 기계항공시스템학부 기계공학전공) ;
  • 김수현 (한국과학기술원 기계항공시스템학부) ;
  • 곽윤근 (한국과학기술원 기계항공시스템학부)
  • Received : 2009.02.16
  • Accepted : 2009.03.19
  • Published : 2009.05.29
Download PDF
⟨ Previous Next ⟩

Abstract

In this paper, we provide experimental results and verification for obstacle avoidance algorithm 'ELA(Emergency Level Around)', which is applicable to rescue robots. ELA is a low level intelligence-based obstacle avoidance algorithm, so can be used in fast mobile robots requiringhigh speed in operation with little computational load. Constructed system for experiments consist of laptop, sensors, peripheral devices and mobile robot platform VSTR(Variable Single-tracked Robot) to realize predetermined scenarios. Finally, experiment was conducted in indoor surroundings including miscellaneous things as well as dark environment to show fitness and robustness of ELA for rescue, and it is shown that VSTR navigates endowed area well with real-time obstacle avoidance based on ELA. Therefore, it is concluded that ELA can be a candidate algorithm to increase mobility of rescue robots in real situation.

Keywords

References

  1. 정해관, 현경학, 김수현, 곽윤근, "구조로봇의 자율 주행모드 변형에 의한 장애물 회피", 한국지능로봇 종합학술대회 논문집, pp. 329-331, 2008
  2. J. Borenstein and Y. Koren, "Real-time Obstacle Avoidance for Fast Mobile Robots", IEEE Transactions on Systems, Man and Cybernetics, vol. 19, no. 5, pp. 1179-1187, 1989 https://doi.org/10.1109/21.44033
  3. J. Borenstein and Y. Koren, "The Vector Field Histogram – Fast Obstacle Avoidance for Mobile Robots", IEEE Journal of Robotics and Automation, vol. 7, no. 3, pp. 278-288, 1991 https://doi.org/10.1109/70.88137
  4. D. Fox, W. Burgard and S. Thrun, "The Dynamic Window Approach to Collision Avoidance", IEEE Robotics & Automation Magazine, vol. 4, no. 1, pp. 23-33, 1997 https://doi.org/10.1109/100.580977
  5. J. Minguez, "Nearness Diagram (ND) Navigation: Collision Avoidance in Troublesome Scenarios", IEEE Transactions on Robotics and Automation, vol. 20, no. 1, pp. 45-59, 2004 https://doi.org/10.1109/TRA.2003.820849
  6. 정해관, 현경학, 김수현, 곽윤근, "ELA: 가변 형상 구조로봇의 자율주행을 위한 실시간 장애물 회피기법", 한국로봇공학회 논문지, 제3권, 제3호, pp. 186-193, 2008
  7. Hae Kwan Jeong, Kyung Hak Hyun and Yoon Keun Kwak, "ELA: Reliable Obstacle Avoidance for Rescue Robots", International Symposium on Robotics, pp. 167-170, 2008