대한전기학회논문지:전력기술부문A (The Transactions of the Korean Institute of Electrical Engineers A)

대한전기학회 (The Korean Institute of Electrical Engineers)
권호 표지

차선-곡률 방법 : 새로운 지역 장애물 회피 방법

Lane-Curvature Method : A New Method for Local Obstacle Avoidance

  • 고낙용 (조선대 전기제어계측공학부) ;
  • 이상기 (조선대 항공조선공학부)
  • 발행 : 1999.03.01
PDF 다운로드
⟨ 이전 논문 다음 논문 ⟩

초록

The Lane-Curvature Method(LCM) presented in this paper is a new local obstacle avoidance method for indoor mobile robots. The method combines Curvature-Velocith Method(CVM) with a new directional method called the Lane Method. The Lane Method divides the environment into lanes taking the information on obstacles and desired heading of the robot into account ; then it chooses the best lane to follow to optimize travel along a desired heading. A local heading is then calculated for entering and following the best lane, and CVM uses this heading to determine the optimal translational and rotational velocity space methods, LCM yields safe collision-free motion as well as smooth motion taking the dynamics of the robot Xavier, show the efficiency of the proposed method.

키워드

참고문헌

  1. The Int. Journal of Robotics Research v.5 no.3(Fall) Toward efficient trajectory planning: The path-velocity decomposition K. Kant;S. W. Zucker
  2. The Int. J. Robotics Research v.5 no.1(Spring) Real-time obstacle avoidance for manipulators and mobile robots O. Khatib
  3. IEEE Trans. on Robotics and Automation v.8 no.1 A potential field approach to path planning Y. K. Hwang;N. Ahuja
  4. IEEE Trans. Robotics Automat. v.7 no.3 The Vector Field Histogram-Fast Obstacle Avoidance for Mobile Robots J. Borenstein;Y. Koren
  5. International Conference on Robotics and Automation The Curvature-Velocity Method for Local Obstacle Avoidance R. G. Simmons
  6. AI Magazine v.16 no.2(Summer) The mobile robot Rhino J. Buhmann;W. Burgard;A. B. Cremers;D. Fox;T.Hofmann;F. Schneider;J. Stricos;S. Thurn
  7. Proc. IEEE Int. Conf. Robotics and Automation Robust obstacle avoidance in unknown and cramped environment W. Feiten;R. Bauer;G. Lawitzky
  8. Tech Report IAI-TR-95-13, CS department, University of Bonn The dynamic window approach to collision avoidance D. Fox;W. Burgard;S. Thurn
  9. Tech Report CMU-CS-TR-95-33, School of Computer Science, Carnegie Mellon Univ. An intelligent predictive control approach to the high speed cross country autonomous navigation problem A. Kelly
  10. Proc. 98 IEEE/RSJ Int. Conf. Intelligent Robots and Systems The Lane-Curvature Method for Local Obstacle Avoidance Nak Yong Ko;Reid G. Simmons
  11. Proc. Autonomous Agents'97 A layered architecture for office delivery robots R. Simmons;R. Goodwin;K. Zita Haigh;S. Koening;J. O'Sullivan
  12. Proc. IEEE Int. Conf. on Robotics and Automation Planning smooth paths for mobile robots P. Jacobs;J. Canny
  13. Robot motion planning J. C. Latombe