| Title |
Development of an Obstacle Avoidance Algorithm for a Network-based Autonomous Mobile Robot |
| Authors |
김홍열(Kim Hongryeol) ; 김대원(Kim Dae Won) ; 김홍석(Kim Hong-Seok) ; 손수경(Sohn SooKyung) |
| Keywords |
VFH ; Network Delay ; Sensor Fusion ; Kalman Filter |
| Abstract |
An obstacle avoidance algorithm for a network-based autonomous mobile robot is proposed in this paper. The obstacle avoidance algorithm is based on the VFH(Vector Field Histogram) algorithm and two delay compensation methods with the VFH algorithm are proposed for a network-based robot with distributed environmental sensors, mobile actuators, and the VFH controller. Firstly, the environmental sensor information is compensated by prospection with acquired environmental sensor information, measured network delays, and the kinematic model of the robot. The compensated environmental sensor information is used for building polar histogram with the VFH algorithm. Secondly, a sensor fusion algorithm for localization of the robot is proposed to compensate the delay of odometry sensor information and the delay of environmental sensor information. Through some simulation tests, the performance enhancement of the proposed algorithm in the viewpoint of efficient path generation and accurate goal positioning is shown here. |