구조로봇에 적합한 장애물 회피 알고리즘 ELA의 실험적 검증
Experimental Verification of Obstacle Avoidance Algorithm ELA Applicable to Rescue Robots
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초록
In this paper, we provide experimental results and verification for obstacle avoidance algorithm 'ELA(Emergency Level Around)', which is applicable to rescue robots. ELA is a low level intelligence-based obstacle avoidance algorithm, so can be used in fast mobile robots requiring high speed in operation with little computational load. Constructed system for experiments consist of laptop, sensors, peripheral devices and mobile robot platform VSTR(Variable Single-tracked Robot) to realize predetermined scenarios. Finally, experiment was conducted in indoor surroundings including miscellaneous things as well as dark environment to show fitness and robustness of ELA for rescue, and it is shown that VSTR navigates endowed area well with real-time obstacle avoidance based on ELA. Therefore, it is concluded that ELA can be a candidate algorithm to increase mobility of rescue robots in real situation.
Abstract
In this paper, we provide experimental results and verification for obstacle avoidance algorithm 'ELA(Emergency Level Around)', which is applicable to rescue robots. ELA is a low level intelligence-based obstacle avoidance algorithm, so can be used in fast mobile robots requiring high speed in operation with little computational load. Constructed system for experiments consist of laptop, sensors, peripheral devices and mobile robot platform VSTR(Variable Single-tracked Robot) to realize predetermined scenarios. Finally, experiment was conducted in indoor surroundings including miscellaneous things as well as dark environment to show fitness and robustness of ELA for rescue, and it is shown that VSTR navigates endowed area well with real-time obstacle avoidance based on ELA. Therefore, it is concluded that ELA can be a candidate algorithm to increase mobility of rescue robots in real situation.
참고문헌 (7)
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- J. Borenstein, "Real-time Obstacle Avoidance for Fast Mobile Robots", IEEE Transactions on Systems, Man and Cybernetics, 19(5), pp.1179~1187 (1989)
- J. Borenstein, "The Vector Field Histogram – Fast Obstacle Avoidance for Mobile Robots", IEEE Journal of Robotics and Automation, 7(3), pp.278~288 (1991)
- D. Fox, "The Dynamic Window Approach to Collision Avoidance", IEEE Robotics & Automation Magazine, 4(1), pp.23~33 (1997)
- J. Minguez, "Nearness Diagram (ND) Navigation: Collision Avoidance in Troublesome Scenarios", IEEE Transactions on Robotics and Automation, 20(1), pp.45~59 (2004)
- 정해관, "ELA: 가변 형상 구조로봇의 자율주행을 위한 실시간 장애물 회피 기법", 로봇학회 논문지, 3(3), pp.186~193 (2008), 한국로봇학회
- Hae Kwan Jeong, "ELA: Reliable Obstacle Avoidance for Rescue Robots", International Symposium on Robotics, pp.167~170 (2008)