Obstacle Avoidance of Autonomous Mobile Agent using Circular Navigation Method

곡률 주행 기법을 이용한 무인 이동 개체의 장애물 회피 알고리즘

  • Published : 2009.04.01

Abstract

This paper proposes an obstacle avoidance algorithm for an autonomous mobile robot. The proposed method based on the circular navigation with probability distribution finds local-paths to avoid collisions. Futhermore, it makes mobile robots to achieve obstacle avoidance and optimal path planning due to the accurate decision of the final goal. Simulation results are included to show the feasibility of the proposed method.

References

  1. L. Kavraki, P. Svestka, J.C. Latombe, and M. Ovennars, 'Probabilistics roadmaps for path planning in high-dimensional configuration spaces', IEEE Transactions on Robotics and Automation, Vol. 12, No 4, August 1996 https://doi.org/10.1109/70.508439
  2. Elfes, A., 'Sonar-based real-world mapping and navigation' IEEE Journal of Robotics and Automation, Vol. RA-3, No 3, 1987, pp.249-265
  3. P. Payeur, 'Improving robot path planning efficiency with probabilistic virtual environment models' IEEE International Conference on Virtual Environment, Human-Computer Interfaces, and Measurement Systems, Boston, MA, USA, 12-14 July 2004 https://doi.org/10.1109/VECIMS.2004.1397177
  4. Z. Yan, T. Shubo, L. Lei and W. Wei, 'Mobile robot indoor map building and pose tracking using laser scanning', Proc. Int. Conference on Intelligent Mechatronics and Automation, Chengdu, China, 2004 https://doi.org/10.1109/ICIMA.2004.1384276
  5. R.carrelli, R Kelly, O. H. Nasisi, C. Soria and V. Mut, 'Control based on perspective lines of a non-holonomic mobile robot with camera-on-board', International Journal of Control, Vol. 79, pp. 362, 2006 https://doi.org/10.1080/00207170500537180
  6. S. Kim, W. Kang, D, Kim, D. Seo, N. Ko, '레이저 스캐닝 센서를 이용한 이동 로봇의 지역 장애물 회피방법', 전기학회논문집 51p, 3호 2002년
  7. 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. June 1991, pp278-288 https://doi.org/10.1109/70.88137
  8. S. Kong, I. Suh, 'Nonholonomic 이동로봇의 호밍과 장애물 회피 알고리즘', Trans, KIEE. Vol. 51D, No.12, DEC, 2002
  9. A. Mendes, L. C. Bento and U. Nunes, 'Multi-target detecetion and tracking with a laserscanner', IEEE Intelligent Vehicles Symposium, University of Parma, Panna, Italy, June 14-17, 2004 https://doi.org/10.1109/IVS.2004.1336486
  10. C. Park, '계층적 구조를 가진 이동 로봇의 장애물 회피', 전기학회논문집 50p, 2호 2001년
  11. R. Chancharoen, V. Sangveraphunsiri, T. Navakulsirinart, W. Thanawittayakorn, 'Target tracking and obstacle avoidance for mobile robot', IEEE/ICT'02, Bangkok, THAILAND https://doi.org/10.1109/ICIT.2002.1189851
  12. 이기룡, 좌동경, 홍석교, '단일 레이저 스캐너를 이용한 모바일 로봇의 장애물 탐색 및 분리 알고리즘,' 정보 및 제어 학술대회, pp. 385-386, 2007
  13. D. Nikovski, I. Nourbakhsh, 'Learning probabilistic models for state tracking of mobile robots', IEEE/RSJ Intl. Conference on Intelligent Robots and Systems EPFL, Lausanne, Switzerland, Oct. 2002 https://doi.org/10.1109/IRDS.2002.1041526