ELA: 가변 형상 구조로봇의 자율주행을 위한 실시간 장애물 회피 기법 (ELA: Real-time Obstacle Avoidance for autonomous Navigation of Variable Configuration Rescue Robots)

서지정보

· 발행기관 : 한국로봇학회
· 수록지 정보 : 로봇학회 논문지 / 3권 / 3호 / 186 ~ 193페이지
· 저자명 : 정해관, 현경학, 김수현, 곽윤근

초록

We propose a novel real-time obstacle avoidance method for rescue robots. This method,
named the ELA(Emergency Level Around), permits the detection of unknown obstacles and avoids
collisions while simultaneously steering the mobile robot toward safe position. In the ELA, we consider
two sensor modules, PSD(Position Sensitive Detector) infrared sensors taking charge of obstacle
detection in short distance and LMS(Laser Measurement System) in long distance respectively. Hence if
a robot recognizes an obstacle ahead by PSD infrared sensors first, and judges impossibility to
overcome the obstacle based on driving mode decision process, the order of priority is transferred to
LMS which collects data of radial distance centered on the robot to avoid the confronted obstacle. After
gathering radial information, the ELA algorithm estimates emergency level around a robot and
generates a polar histogram based on the emergency level to judge where the optimal free space is.
Finally, steering angle is determined to guarantee rotation to randomly direction as well as robot width
for safe avoidance. Simulation results from wandering in closed local area which includes various
obstacles and different conditions demonstrate the power of the ELA.

영어초록

We propose a novel real-time obstacle avoidance method for rescue robots. This method,
named the ELA(Emergency Level Around), permits the detection of unknown obstacles and avoids
collisions while simultaneously steering the mobile robot toward safe position. In the ELA, we consider
two sensor modules, PSD(Position Sensitive Detector) infrared sensors taking charge of obstacle
detection in short distance and LMS(Laser Measurement System) in long distance respectively. Hence if
a robot recognizes an obstacle ahead by PSD infrared sensors first, and judges impossibility to
overcome the obstacle based on driving mode decision process, the order of priority is transferred to
LMS which collects data of radial distance centered on the robot to avoid the confronted obstacle. After
gathering radial information, the ELA algorithm estimates emergency level around a robot and
generates a polar histogram based on the emergency level to judge where the optimal free space is.
Finally, steering angle is determined to guarantee rotation to randomly direction as well as robot width
for safe avoidance. Simulation results from wandering in closed local area which includes various
obstacles and different conditions demonstrate the power of the ELA.

참고자료

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