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Goal-directed Obstacle Avoidance Using Lane Method

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로봇학회논문지 (The Journal of Korea Robotics Society)
한국로봇학회 (Korea Robotics Society)
초록

This paper presents a goal-directed reactive obstacle avoidance method based on lane method. The reactive collision avoidance is necessarily required for a robot to navigate autonomously in dynamic environments. Many methods are suggested to implement this concept and one of them is the lane method. The lane method divides the environment into lanes and then chooses the best lane to follow. The proposed method does not use the discrete lane but chooses a line closest to the original target line without collision when an obstacle is detected, thus it has a merit in the aspect of running time and it is more proper for narrow corridor environment. If an obstacle disturbs the movement of a robot by blocking a target path, a robot generates a temporary target line, which is parallel to an original target line and tangential to an obstacle circle, to avoid a collision with an obstacle and changes to and follows that line until an obstacle is removed. After an obstacle is clear, a robot returns to an original target line and proceeds to the goal point. Obstacle is recognized by laser range finder sensor and represented by a circle. Our method has been implemented and tested in a corridor environment and experimental results show that our method can work reliably.

저자
  • 도현민 | Do Hyun Min
  • 김용식 | Kim Yong-Shik
  • 김봉근 | Kim Bong Keun
  • 이재훈 | Lee Jae Hoon
  • 오바코타로 | Ohba Kohtaro