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Proceedings Paper

A feature information based VPH for local path planning with obstacle avoidance of the mobile robot
Author(s): Tae-Seok Oh; Yun-Su Shin; Sung-Yong Yun; Wang-Heon Lee; Il-Hwan Kim
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Paper Abstract

This study shows how a mobile service robot can avoid obstacles, and presents a VPH method using feature information for Local Path Planning. It is not easy to make a mobile service robot automatically move towards the goal. Path Planning lays out the path through which a robot follows to reach the goal. It can be divided into two folds: Global Path Planning (GPP) and Local Path Planning (LPP). Local path planning sets a path in a changing environment with moving obstacles such as in a museum and exhibition hall so that the robot reaches the goal without any collision. This study evaluates the Fusion Map-VPH (FM-VPH) Local path planning method with improved VPH by making use of the combined data drawn up through the ultrasonic sensor and laser sensor and by means of feature information. The results of the simulations and experiments have verified the validity of the methods described.

Paper Details

Date Published: 9 January 2008
PDF: 6 pages
Proc. SPIE 6794, ICMIT 2007: Mechatronics, MEMS, and Smart Materials, 679425 (9 January 2008); doi: 10.1117/12.784481
Show Author Affiliations
Tae-Seok Oh, Kangwon National Univ. (South Korea)
Yun-Su Shin, Kangwon National Univ. (South Korea)
Sung-Yong Yun, Pohang Institute of Intelligent Robots (South Korea)
Wang-Heon Lee, Hansei Univ. (South Korea)
Il-Hwan Kim, Kangwon National Univ. (South Korea)

Published in SPIE Proceedings Vol. 6794:
ICMIT 2007: Mechatronics, MEMS, and Smart Materials
Minoru Sasaki; Gisang Choi Sang; Zushu Li; Ryojun Ikeura; Hyungki Kim; Fangzheng Xue, Editor(s)

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