Transactions of the Korean Society of Mechanical Engineers A (대한기계학회논문집A)

The Korean Society of Mechanical Engineers (대한기계학회)
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Development of a Navigation Control Algorithm for Mobile Robots Using D* Search and Fuzzy Algorithm

D* 서치와 퍼지 알고리즘을 이용한 모바일 로봇의 충돌회피 주행제어 알고리즘 설계

  • Jung, Yun-Ha (Shipbuilding & Ocean Research Institute, STX Offshore & Shipbuilding) ;
  • Park, Hyo-Woon (Hull & Navigation Team, Wing Ship Technology Co.) ;
  • Lee, Sang-Jin (Mechatronics Engineering, Chungnam Nat'l Univ.) ;
  • Won, Moon-Cheol (Mechatronics Engineering, Chungnam Nat'l Univ.)
  • 정윤하 (STX 조선해양 조선해양연구소) ;
  • 박효운 (윙쉽테크놀러지(주) 선형항법팀) ;
  • 이상진 (충남대학교 메카트로닉스공학과) ;
  • 원문철 (충남대학교 메카트로닉스공학과)
  • Received : 2009.08.17
  • Accepted : 2010.06.18
  • Published : 2010.08.01
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Abstract

In this paper, we present a navigation control algorithm for mobile robots that move in environments having static and moving obstacles. The algorithm includes a global and a local path-planning algorithm that uses $D^*$ search algorithm, a fuzzy logic for determining the immediate level of danger due to collision, and a fuzzy logic for evaluating the required wheel velocities of the mobile robot. To apply the $D^*$ search algorithm, the two-dimensional space that the robot moves in is decomposed into small rectangular cells. The algorithm is verified by performing simulations using the Python programming language as well as by using the dynamic equations for a two-wheeled mobile robot. The simulation results show that the algorithm can be used to move the robot successfully to reach the goal position, while avoiding moving and unknown static obstacles.

이 논문은 모바일 로봇이 고정 장애물 또는 움직이는 장애물이 존재하는 환경에서 장애물을 회피하며 운행될 수 있는 제어 알고리즘을 연구하였다. 이 제어 알고리즘은 $D^*$ 알고리즘과, 충돌 위험도 퍼지로직, 이동로봇의 행동결정 퍼지로직을 사용하여 전역경로계획과 지역경로계획을 수행한다. $D^*$ 알고리즘에는 로봇이 이동하는 2 차원 공간을 정방형 격자 분활하여 적용한다. 이 알고리즘은 파이썬 프로그래밍 언어와 이동로봇의 운동방정식을 사용한 시뮬레이션을 통해 검증하였다. 시뮬레이션 결과를 통해 알고리즘을 적용하여 로봇이 이동하는 장애물을 피하거나 모르는 고정 장애물을 피하면서 원하는 위치로 이동하는 것을 볼 수 있다.

Keywords

References

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