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가려진 동적 장애물을 고려한 이동로봇의 안전한 주행기술개발
Safe Navigation of a Mobile Robot Considering the Occluded Obstacles

김석규   (현대기아 연구개발총괄본부  ); 정우진   (고려대학교UU0000159  );
  • 초록

    In this paper, we present one approach to achieve safe navigation in indoor dynamic environment. So far, there have been various useful collision avoidance algorithms and path planning schemes. However, those algorithms have a fundamental limitation that the robot can avoid only "visible" obstacles. In real environment, it is not possible to detect all the dynamic obstacles around the robot. There exist a lot of "occluded" regions due to the limitation of field of view. In order to avoid possible collisions, it is desirable to consider visibility information. Then, a robot can reduce the speed or modify a path. This paper proposes a safe navigation scheme to reduce the risk of collision due to unexpected dynamic obstacles. The robot's motion is controlled according to a hybrid control scheme. The possibility of collision is dually reflected to a path planning and a speed control. The proposed scheme clearly indicates the structural procedure on how to model and to exploit the risk of navigation. The proposed scheme is experimentally tested in a real office building. The presented result shows that the robot moves along the safe path to obtain sufficient field of view, while appropriate speed control is carried out.


  • 주제어

    obstacle avoidance .   autonomous navigation .   mobile robot .   speed control .   occluded dynamic obstacle.  

  • 참고문헌 (11)

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    7. A. Mandow, V. F. Mufloz, R. Fernandez, and A. G.-Cerezo. 'Dynamic speed planning for safe navigation,' In Proc. of the int. Conference on Intelligent Robots and Systems(IROS), 1997 
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    11. W. Chung, G. Kim, and M. Kim 'Development of the Multi- Functional Indoor Service Robot PSR Systems,' Autonomous Robots (To appear. Published online at http://dx.doi.org/10.1007/ s10514-006-9001-z) 

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