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가려진 동적 장애물을 고려한 이동로봇의 안전한 주행기술개발Safe Navigation of a Mobile Robot Considering the Occluded Obstacles

Other Titles
Safe Navigation of a Mobile Robot Considering the Occluded Obstacles
Authors
김석규정우진
Issue Date
2008
Publisher
제어·로봇·시스템학회
Keywords
obstacle avoidance; autonomous navigation; mobile robot; speed control; occluded dynamic obstacle
Citation
제어.로봇.시스템학회 논문지, v.14, no.2, pp 141 - 147
Pages
7
Indexed
SCOPUS
KCI
Journal Title
제어.로봇.시스템학회 논문지
Volume
14
Number
2
Start Page
141
End Page
147
URI
https://scholar.korea.ac.kr/handle/2021.sw.korea/125203
ISSN
1976-5622
Abstract
In this paper, we present one approach to achieve safe navigation in indoor dynamic environment. So far, there have been various useful collision avoidance algorithms and path planning schemes. However, those algorithms have a fundamental limitation that the robot can avoid only visible obstacles. In real environment, it is not possible to detect all the dynamic obstacles around the robot. There exist a lot of occluded regions due to the limitation of field of view. In order to avoid possible collisions, it is desirable to consider visibility information. Then, a robot can reduce the speed or modify a path. This paper proposes a safe navigation scheme to reduce the risk of collision due to unexpected dynamic obstacles. The robots motion is controlled according to a hybrid control scheme. The possibility of collision is dually reflected to a path planning and a speed control. The proposed scheme clearly indicates the structural procedure on how to model and to exploit the risk of navigation. The proposed scheme is experimentally tested in a real office building. The presented result shows that the robot moves along the safe path to obtain sufficient field of view, while appropriate speed control is carried out.
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