Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Obstacle Avoidance and Local Path Planning for Mobile Robots using the Fast Elastic Band

FEB를 이용한 이동로봇의 장애물 회피와 국지경로계획

  • 김일환 (강원대학교 전자통신공학과)
  • Received : 2010.04.16
  • Accepted : 2010.06.10
  • Published : 2010.08.01
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Abstract

This paper presents a new obstacle-avoidance method for mobile robots. This approach, called the FEB (Fast Elastic Band) method, has been developed and successfully tested on the experimental mobile robot PHOPE-1S. The FEB method eliminates the shortcomings of the elastic band method previously introduced, yet retains all the advantages of its predecessor. The FEB algorithm is computationally efficient, and it allows continuous and fast motion of the mobile robot without stopping for obstacles. The FEB-controlled mobile robot traverses very densely cluttered obstacle courses and is able to pass through narrow openings or narrow corridors without oscillations. The results of the simulation and experiment have verified the validity of the proposed method.

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References

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