| Title |
Local Obstacle Avoidance Method of Mobile Robots Using LASER scanning sensor |
| Authors |
김성철(Kim, Sung Cheol) ; 강원찬(Kang, Won Chan) ; 김동옥(Kim, Dong Ok) ; 서동진(Seo, Dong Jin) ; 고낙용(Ko, Nak Yong) |
| Keywords |
local obstacle avoidance ; autonomous mobile robot ; laser scanning sensor |
| Abstract |
This paper focuses on the problem of local obstacle avoidance of mobile robots. To solve this problem, the safety direction section search algorithm is suggested. This concept is mainly composed with non-collision section and collision section from the detecting area of laser scanning sensor. Then, we will search for the most suitable direction in these sections. The proposed local motion planning method is simple and requires less computation than others. An environment model is developed using the vector space concept to determine robot motion direction taking the target direction, obstacle configuration, and robot trajectory into account. Since the motion command is obtained considering motion dynamics, it results in smooth and fast as well as safe movement. Using the mobile base, the proposed obstacle avoidance method is tested, especially in the environment with pillar, wall and some doors. Also, the proposed autonomous motion planning and control algorithm are tested extensively. The experimental results show the proposed method yields safe and stable robot motion through the motion speed is not so fast. |