지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
논문 기본 정보
- 자료유형
- 학술저널
- 저자정보
- 발행연도
- 2011.5
- 수록면
- 471 - 478 (8page)
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초록· 키워드
오류제보하기
This UGV (Unmanned Ground Vehicle) is not only widely used in various practical applications but is also currently being researched in many disciplines. In particular, obstacle avoidance is considered one of the most important technologies in the navigation of an unmanned vehicle. In this paper, we introduce a simple algorithm for path planning in order to reach a destination while avoiding a polygonal-shaped static obstacle. To effectively avoid such an obstacle, a path planned near the obstacle is much shorter than a path planned far from the obstacle, on the condition that both paths guarantee that the robot will not collide with the obstacle. So, to generate a path near the obstacle, we have developed an algorithm that combines an edge detection method and a limit-cycle navigation method. The edge detection method, based on Hough Transform and IR sensors, finds an obstacle’ edge, and the limit-cycle navigation method generates a path that is smooth enough to reach a detected obstacle’ edge. And we proposed novel algorithm to solve local minima using the virtual wall in the local vision. Finally, we verify performances of the proposed algorithm through simulations and experiments.This UGV (Unmanned Ground Vehicle) is not only widely used in various practical applications but is also currently being researched in many disciplines. In particular, obstacle avoidance is considered one of the most important technologies in the navigation of an unmanned vehicle. In this paper, we introduce a simple algorithm for path planning in order to reach a destination while avoiding a polygonal-shaped static obstacle. To effectively avoid such an obstacle, a path planned near the obstacle is much shorter than a path planned far from the obstacle, on the condition that both paths guarantee that the robot will not collide with the obstacle. So, to generate a path near the obstacle, we have developed an algorithm that combines an edge detection method and a limit-cycle navigation method. The edge detection method, based on Hough Transform and IR sensors, finds an obstacle’ edge, and the limit-cycle navigation method generates a path that is smooth enough to reach a detected obstacle’ edge. And we proposed novel algorithm to solve local minima using the virtual wall in the local vision. Finally, we verify performances of the proposed algorithm through simulations and experiments.
목차
Abstract
Ⅰ. 서론
Ⅱ, 문제제기
Ⅲ. 경로 계획
Ⅳ. 모서리 검출
Ⅴ. 시뮬레이션
Ⅵ. 실험
Ⅶ. 결론 및 토의
참고문헌
참고문헌 (13)
참고문헌 신청
3. [학술지(정기간행물)] - S. S. Ge / 2002 / Dynamic motion planning for mobile robots using potential field method / Autonomous Robots 13 (3) : 207 ~ 222
4. [학술대회논문] - J. Rossell / 2005 / Path planning using Harmonic functions and probabilistic cell decomposition / Proc. of the 2005 IEEE International Conference on Robotics and Automation, Barcelona, Spain : 1803 ~ 1808
5. [학술대회논문] - H. Xiaoxi / 2008 / Path planning based on grid-potential fields / International Conference on Computer Science and Software Engineering : 1114 ~ 1116
6. [학술대회논문] - B. You / 2008 / A novel obstacle avoidance me thod for low-cost household mobile robot / Proc. of the IE EE International Conference on Automation and Logistics, Qingdao, China : 111 ~ 116
7. [학술지(정기간행물)] - S. M. Chen / 2010 / Motion planning of mobile robot based on artificial potential field in fuzzy space / Journal of Nanchang University-Engineering and Technology Edition 32 (2) : 192 ~ 195
4. [학술대회논문] - J. Rossell / 2005 / Path planning using Harmonic functions and probabilistic cell decomposition / Proc. of the 2005 IEEE International Conference on Robotics and Automation, Barcelona, Spain : 1803 ~ 1808
5. [학술대회논문] - H. Xiaoxi / 2008 / Path planning based on grid-potential fields / International Conference on Computer Science and Software Engineering : 1114 ~ 1116
6. [학술대회논문] - B. You / 2008 / A novel obstacle avoidance me thod for low-cost household mobile robot / Proc. of the IE EE International Conference on Automation and Logistics, Qingdao, China : 111 ~ 116
7. [학술지(정기간행물)] - S. M. Chen / 2010 / Motion planning of mobile robot based on artificial potential field in fuzzy space / Journal of Nanchang University-Engineering and Technology Edition 32 (2) : 192 ~ 195
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UCI(KEPA) : I410-ECN-0101-2013-569-003495786