초음파 센서를 이용한 로봇의 소형 장애물 감지 및 회피방법 연구
Perception of small-obstacles using ultrasonic sensors and its avoidance method in robot
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Abstract
The research on the avoidance of the large-obstacles such as a wall, a large box, etc. using ultrasonic sensors has bengeneraly progressed up to now. But the mobile robot could met a small-obstacle such as a small plastic bottle, a smalsphere, and so on in its designated path, and could be disturis necessary to research on the avoidance of a small-obstacle. In this paper, a robot's small-obstacle perceiving systemwas designed and fabricated by arranging four ultrasonic sensors on the plastic plate to avoid small-obstacles. The systemwas installed on the upper part of the mobile robot with the slope angles between 40.7o and 23.3o to a horizontal lineand the dynamic characteristic test of the robot was performed. As the result, it was confirmed that the mobile robot withthe system could avoid small-obstacles in indoor environment safely.
참고문헌 (6)
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