로봇의 장애물 회피 및 자율 보행을 위한 새로운 알고리즘
(A) New Algorithm for Obstacle Avoidance and Path Planning of Robots
로봇 장애물 회피 자율 보행 알고리즘;
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In this paper, Water-Flowing-Mathematical-Algorithm (WFMA) is proposed for the obstacle-avoidance and path planning of robots in an unknown environment. First, Water-Flowing-Algorithm (WFA) is proposed, but because of some special conditions, such as, the obstacle is U-Shape or there are some dead corners, Water-Flowing-Algorithm cannot solve these problems and the robot cannot come out from these dead corners. So Water-Flowing-Algorithm is improved to WFMA: Water-Flowing-Mathematical-Algorithm. In this algorithm the robot just knows the start point and the goal point in the 2-D workspace. The goal point is always set to the lowest value by a distance mathematical function in the workspace and the start point can be anywhere. The course that the robot moves from the start point to the goal point is just like water flowing. The obstacles have strong resistance to the flowing-water (robot). So if the robot meets the obstacle, it has to change the direction to move. There is a counter in the algorithm. By using this counter, we can judge whether the robot gets in the U-Shape obstacle or dead corner or not. If the robot gets in U-Shape obstacle or dead corner, a new mathematical method is used to force the robot go along the borders of the obstacle until it comes out from the U-Shape obstacle or dead corner. The computer simulation results show that this algorithm can get good results and has high efficiency.