Journal of the Korean Society of Industry Convergence (한국산업융합학회 논문집)

The Korean Society of Industry Convergence (한국산업융합학회)
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A Real-Time Collision-Free Trajectory Planning and Control for a Car-Like Mobile Robot

모바일 로봇의 충돌회피 알고리즘 개발

  • Received : 2015.03.13
  • Accepted : 2015.04.21
  • Published : 2015.05.31
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Abstract

This study proposes a new approach to analyze the impedance and the elasticity of a serial chain of spring-damper system, areal-time collision-free trajectory generation algorithm is proposed. The reference points on a trajectory connected by the spring-damper system have a mechanism for self-position adjustment to solve a collision problem by the impedance, and the local adjustment of each reference point is propagated through the elasticity to a real robot at the end of the spring-damper system. As a result, the overall trajectory consisting of the reference points becomes free of collision with environmental obstacles and efficient having the shortest distance as possible. In this process,, the reference points connected by the spring-damper system take role of virtual robot as global guidance for a real robot, and a cooperative is carried out by the system of robots. A control technology is proposed to implement for mobile robot.

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References

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