The Journal of Korea Robotics Society (로봇학회논문지)

Korea Robotics Society (한국로봇학회)
권호 표지

Semi-3D Path Planning using Virtual Tangential Vector and Fuzzy Control

Virtual Tangential Vector와 퍼지 제어를 이용한 준 3차원 경로계획

  • 곽경운 (KAIST 기계항공시스템학부 기계공학전공) ;
  • 정해관 (연구개발인력교육원 기획연수) ;
  • 김수현 (KAIST 기계항공시스템학부)
  • Received : 2010.02.26
  • Accepted : 2010.05.07
  • Published : 2010.05.31
Download PDF
⟨ Previous Next ⟩

Abstract

In this paper, a hybrid semi-3D path planning algorithm combining Virtual Tangential Vector(VTV) and fuzzy control is proposed. 3D dynamic environmental factors are reflected to the 2D path planning model, VTV. As a result, the robot can control direction from 2D path planning algorithm VTV and speed as well depending on the fuzzy inputs such as the distance between the robot and obstacle, roughness and slope. Performances and feasibilities of the suggested method are demonstrated by using Matlab simulations. Simulation results show that fuzzy rules and obstacle avoidance methods are working properly toward virtual 3D environments. The proposed hybrid semi-3D path planning is expected to be well applicable to a real life environment, considering its simplicity and realistic nature of the dynamic factors included.

Keywords

References

  1. J. Borenstein, "Real-time obstacle avoidance for fast mobile robots," IEEE Transactions on Systems, Man, and Cybernetics, Vol.19, No.5, pp.1179-1187, Sept./Oct., 1989. https://doi.org/10.1109/21.44033
  2. J. Borenstein, Y. Koren, "the vector field histogram-fast obstacle avoidance for mobile robots," IEEE Journal of Robotics and Automation Vol.7, No.3, pp.278-288, June, 1991. https://doi.org/10.1109/70.88137
  3. Dieter Foxy, Wolfram Bardy, Sebastian Thrunyz, "The Dynamic Window Approach to Collision Avoidance," IAI-TR-95-13, August, 1995.
  4. J. Minguez, "Nearness Diagram (ND) Navigation: Collision Avoidance in Troublesome Scenarios," IEEE Transactions on Robotics and Automation, Vol.20, No.1, pp.45-59, 2004. https://doi.org/10.1109/TRA.2003.820849
  5. 정해관, 현경학, 김수현, 곽윤근, "구조로봇에 적합한 장애물 회피 알고리즘 ELA의 실험적 검증," 한국로봇공학회논문지, 제 4권, 제 2호, pp.105-111, 2009.
  6. 변증남, "퍼지논리 제어(Fuzzy-Logic Control)", 홍릉과학 출판사, 1997.
  7. Driankov, Hellendoorn, Reinfrank, "An Intro. to Fuzzy Control," Springer-Verlag, 1993.
  8. Kyung Woon Kwak, Hae Kwan Jeong, Soo Hyun Kim and Yoon Keun Kwak, "VTV: Real Time Obstacle Avoidance of Mobile Robots for Local Path Planning using LMS," International Conference on Control, Automation and Systems, Seoul, Korea, pp.1597-1600, 2008.