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

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Tactile Navigation System using a Haptic Device

햅틱 디바이스를 이용한 촉감형 네비게이션 시스템

  • Lee, Dong-Hyuk (Department of Electrical Engineering, Pusan National University) ;
  • Noh, Kyung-Wook (Department of Interdisciplinary Program in Robotics, Pusan National University) ;
  • Kang, Sun Kyun (Department of Electrical Engineering, Pusan National University) ;
  • Kim, Hyun Woo (Department of Electrical Engineering, Pusan National University) ;
  • Lee, Jang-Myung (Department of Electrical Engineering, Pusan National University)
  • 이동혁 (부산대학교 전자전기공학과) ;
  • 노경욱 (부산대학교 로봇관련협동과정) ;
  • 강선균 (부산대학교 전자전기공학과) ;
  • 김현우 (부산대학교 전자전기공학과) ;
  • 이장명 (부산대학교 전자전기공학과)
  • Received : 2014.06.02
  • Accepted : 2014.06.30
  • Published : 2014.08.01
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Abstract

In this paper, we proposed a haptic navigation system which used the tactile data for the user guides of the mobile robot to the reference point via tele-operation in unknown blind environment. This navigation system can enable a mobile robot to avoid obstacles and move to the reference point, according to the direction provided by the device guides through a haptic device consisting of a vibration motor in a blind environment. There are a great deal of obstacles in real environments, and so mobile robots can avoid obstacles by recognizing the exact position of each obstacle through the superposition of an ultrasonic sensor. The navigation system determines the direction of obstacle avoidance through an avoidance algorithm that uses virtual impedance, and lets users know the position of obstacles and the direction of the avoidance through the haptic device consisting of 5 vibration motors. By letting users know intuitionally, it lets the mobile robot precisely reach the reference point in unknown blind environment. This haptic device can implement a haptic navigation system through the tactile sensor data.

Keywords

Acknowledgement

Supported by : 한국연구재단

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