한국생산제조학회지 (Journal of the Korean Society of Manufacturing Technology Engineers)

  • 제24권1호
  • /
  • Pages.98-102
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  • 2015
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  • 2508-5093(pISSN)
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  • 2508-5107(eISSN)
한국생산제조학회 (The Korean Society of Manufacturing Technology Engineers)
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일반화된 보로노이 다이어그램을 이용한 논홀로노믹 모바일 로봇의 자율 주행

Autonomous Navigation of Nonholonomic Mobile Robots Using Generalized Voronoi Diagrams

  • Shaoa, Minglei (Department of Mechanical Engineering, Hanyang University) ;
  • Shin, Dongik (Guangzhou Institute of Advanced Technology) ;
  • Shin, Kyoosik (Department of Robot Engineering, Hanyang University)
  • 투고 : 2014.11.28
  • 심사 : 2015.01.27
  • 발행 : 2015.02.15
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초록

This paper proposes an autonomous navigation method for a nonholonomic mobile robot, based on the generalized Voronoi diagram (GVD). We define the look-ahead point for a given motion constraint to determine the direction of motion, which solves the problem of a minimum turning radius for the real nonholonomic mobile robot. This method can be used to direct the robot to explore an unknown environment and construct smooth feedback curves for the nonholonomic robot. As the trajectories can be smoothed, the position of the robot can be stabilized in the plane. The simulation results are presented to verify the performance of the proposed methods for the nonholonomic mobile robot. Furthermore, this approach is worth drawing on the experience of any other mobile robots.

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참고문헌

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