Proceedings of the Korean Society of Precision Engineering Conference (한국정밀공학회:학술대회논문집)
- 2005.06a
- /
- Pages.1468-1471
- /
- 2005
- /
- 2005-8446(pISSN)
Full-Coverage algorithm with local obstacle avoidance algorithm
지역적 회피 알고리즘을 갖는 Full-Coverage 알고리즘
Abstract
This Paper is to find out a solution for the full-coverage algorithm requiring the real-time processing such as mobile home service robots and vacuum cleaner robots. Previous methods are used by adopting based grid approach method. They used lots of sensors, a high speed CPU, expensive ranger sensors and huge memory. Besides, most full-coverage algorithms should have a map before obstacle avoidance. However, if a robot able to recognize the tangent vector of obstacles, it is able to bring the same result with less sensors and simplified hardware. Therefore, this study suggests a topological based approach and a local obstacle voidance method using a few of PSD sensors and ultra sonic sensors. The simulation results are presented to prove its applicability.
Keywords