스캔코드법을 이용한 이동로봇의 장애물 회피

Obstacle Avoidance of Mobile Robot using Scan Code Method

This paper proposes a scan code method for obstacle avoidance of mobile robot. Obstacles detected in a circular window are converted to scan codes and then to the steering angle. The safe rotating radius is obtained by the scan code to avoid the collision between robot and obstacle and. the minimum distance for rotation is calculated. Effectiveness of the method is illustrated through simulations, and the results show that the proposed method can be efficiently implemented to an unknown environment.