The Journal of Korea Robotics Society (로봇학회논문지)

Korea Robotics Society (한국로봇학회)
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Planning of Safe and Efficient Local Path based on Path Prediction Using a RGB-D Sensor

RGB-D센서 기반의 경로 예측을 적용한 안전하고 효율적인 지역경로 계획

  • Received : 2017.06.12
  • Accepted : 2018.05.09
  • Published : 2018.05.31
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Abstract

Obstacle avoidance is one of the most important parts of autonomous mobile robot. In this study, we proposed safe and efficient local path planning of robot for obstacle avoidance. The proposed method detects and tracks obstacles using the 3D depth information of an RGB-D sensor for path prediction. Based on the tracked information of obstacles, the paths of the obstacles are predicted with probability circle-based spatial search (PCSS) method and Gaussian modeling is performed to reduce uncertainty and to create the cost function of caution. The possibility of collision with the robot is considered through the predicted path of the obstacles, and a local path is generated. This enables safe and efficient navigation of the robot. The results in various experiments show that the proposed method enables robots to navigate safely and effectively.

Keywords

References

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