자율주행로봇을 위한 임계기반 충돌회피기법 Criticality Based Collision Avoidance Method for Autonomous Mobile Robot
pp.909-914
Robots for a wide range of purposes have been developed along with the rapid industrialization. On the basis of higher convenience, the robots have been creating new industrial environment. The robots are generally classified into service robots and industrial robots. Robots in various shapes have been developed on the basis of the autonomous mobile robots. The autonomous mobile robots have the possibility to crash against any object in their moving range. This paper suggests a collision avoidance method to prevent collision of robots. The collision avoidance method analyzes the road context data and makes a robot move to a safe area. The collision avoidance method proposed in this paper converts the road context data into the information value. The collision avoidance method analyzes the present risk on the basis of the converted information value. The collision avoidance method makes a robot move to a safe area when crash is estimated by the information analysis.
1. 서 론
2. 자율주행로봇의 충돌 감지와 회피
2.1 충돌회피기법
2.1 안전도에 대한 정보 이득
3. 실험결과
3.1 실험환경
3.1 실험분석
4. 결 론
References