불규칙한 장애물 회피를 위한 이동로봇의 궤적생성 알고리즘 개발

In mobile robot navigation, the shapes of obstacles are generally irregular and complex. The motion of mobile robot based on the range sensor system such as ultrasonic sensors or laser sensors can be unstable due to the irregular shape of the obstacles. In this case, to generate stable trajectory of robot equipped with range sensors, we need an approach that can simplify an obstacle's irregular shape information. In this paper, we propose the trajectory generation algorithm that an robot can stably navigate where irregular shaped obstacles are scattered. The proposed method is verified through the analysis of robot's trail and direction data acquired by simulations and implementations.