지능로봇을 위한 실시간 장애물 회피에 관한 연구

Abstract

The ultimate object of a mobile-manipulator robot in indoor environment is to navigate safely and accomplishes its mission. The robot that assists and helps people has to cope with the rapid change that cannot be predicted in uncertain circumstances and carry out its work. This paper proposes the Elastic Force application on the obstacle avoidance of Intelligent Robots. The method deals with the problem associated with a Intelligent robot driving to a goal configuration as avoiding obstacles. The initial trajectory of a robot is determined by a motion planner, and the trajectory modification is accomplished by adjusting the control points. The control points are obtained based on the elastic force approach. Consequently the trajectory of a robot is incrementally modified to maintain a smooth and adaptive trajectory in an environment with obstacles. The suggested algorithm drives the robot to obstacle avoid in real-time. Finally, The simulation studies are carried out to illustrate the effectiveness of the proposed approach.