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Efficient Kinect Sensor-Based Reactive Path Planning Method for Autonomous Mobile Robots in Dynamic Environments

키넥트 센서를 이용한 동적 환경에서의 효율적인 이동로봇 반응경로계획 기법

  • Tuvshinjargal, Doopalam (Smart Autonomous System Lab, School of Mechanical & Automotive Engineering, Kunsan Nat'l Univ.) ;
  • Lee, Deok Jin (Smart Autonomous System Lab, School of Mechanical & Automotive Engineering, Kunsan Nat'l Univ.)
  • 두팔람 툽신자갈 (군산대학교 기계자동차공학부 스마트자율시스템연구실) ;
  • 이덕진 (군산대학교 기계자동차공학부 스마트자율시스템연구실)
  • Received : 2014.08.20
  • Accepted : 2015.04.08
  • Published : 2015.06.01

Abstract

In this paper, an efficient dynamic reactive motion planning method for an autonomous vehicle in a dynamic environment is proposed. The purpose of the proposed method is to improve the robustness of autonomous robot motion planning capabilities within dynamic, uncertain environments by integrating a virtual plane-based reactive motion planning technique with a sensor fusion-based obstacle detection approach. The dynamic reactive motion planning method assumes a local observer in the virtual plane, which allows the effective transformation of complex dynamic planning problems into simple stationary ones proving the speed and orientation information between the robot and obstacles. In addition, the sensor fusion-based obstacle detection technique allows the pose estimation of moving obstacles using a Kinect sensor and sonar sensors, thus improving the accuracy and robustness of the reactive motion planning approach. The performance of the proposed method was demonstrated through not only simulation studies but also field experiments using multiple moving obstacles in hostile dynamic environments.

Keywords

Mobile Robot;Kinect Sensor;Reactive Path Planning;Virtual Plane;Collision Avoidance;Sensor Fusion

Acknowledgement

Supported by : 한국연구재단

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