다목적용 자율이동로봇 설계 및 구현

In this study, as the preliminary step for developing a multi-purpose mobile robot to navigate and avoide an obstacle in an unknown environment, we designed and implemented a Service Robot (IRL-2002) for an information center and a delivery service vehicle in an indoor and outdoor environmet. It is preferable to research the intelligent mobile robot providing necessary information and servicing for guests or operators all day long. Since it has several sensors to detect obstacles and guests who need the help, it can also keep the corridor from the robber during the night. In implementing IRL-2002 robot driving, we have used multi-sensor systems with vision, ultra sonar ring and compass sensors; adopted the high-speed wireless LAN for bi-directional communication between the main processor in mobile robot and a host server. we with give an explanation for the robot system architecture designed and implemented in this study and a short review of existing techniques, since there exist several recent thorough books and review paper on this paper. It is proposed the rusult from the simulation run based on a virtual force field(VFF) method to support the validity of the aforementioned architecture of mobile service robot for local navigation and obstacle avoidance for autonomous mobile robots. We will conclude by discussing some possible future extensions of the project.