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An Algorithm of Autonomous Navigation for Mobile Robot using Vision Sensor and Ultrasonic Sensor

  • 이재광 (인하대학교 전기공학과) ;
  • 박종훈 (인하대학교 전기공학과) ;
  • 허욱열 (인하대학교 전기공학과)
  • 발행 : 2003.11.21

초록

This paper proposes an algorithm for navigation of an autonomous mobile robot with vision sensor. For obstacle avoidance, we used a curvature trajectory method. Using this method, translational and rotational speeds are controlled independently and the mobile robot traces a smooth curvature trajectory that consists of circle trajectories to a target point. While trying to avoid obstacles, the robot fan be goal-directed using curvature trajectory.

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