Shim Youngbo, Kim Gon-Woo
Mechanical Technology Research Center, Korea Advanced Institute of Science and Technology, Daejeon 34141, Korea.
School of Electronics Engineering, Chungbuk National University, Chungbuk 28644, Korea.
Sensors (Basel). 2018 Mar 29;18(4):1030. doi: 10.3390/s18041030.
In this paper, we address a collision avoidance method for mobile robots. Many conventional obstacle avoidance methods have been focused solely on avoiding obstacles. However, this can cause instability when passing through a narrow passage, and can also generate zig-zag motions. We define two strategies for obstacle avoidance, known as Entry mode and Bypass mode. Entry mode is a pattern for passing through the gap between obstacles, while Bypass mode is a pattern for making a detour around obstacles safely. With these two modes, we propose an efficient obstacle avoidance method based on the Expanded Guide Circle (EGC) method with selective decision-making. The simulation and experiment results show the validity of the proposed method.
在本文中，我们探讨了一种移动机器人的避碰方法。许多传统的避障方法仅仅专注于避开障碍物。然而，这在通过狭窄通道时可能会导致不稳定，并且还会产生锯齿形运动。我们定义了两种避障策略，即进入模式和绕行模式。进入模式是一种穿过障碍物之间间隙的模式，而绕行模式是一种安全绕过障碍物的模式。利用这两种模式，我们提出了一种基于扩展引导圆（EGC）方法并具有选择性决策的高效避障方法。仿真和实验结果表明了该方法的有效性。
