차륜형 이동로봇을 위한 자율 주행 시스템의 설계 및 구현

Abstract

A mobile robot has to have a map in order to reach a target point fast and safely. Its autonomous navigation system sets up the optimal path to the target point using the map. This allows the robot to avoid fixed obstacles during navigation. In this thesis, an obstacle avoidance algorithm is proposed by improving the conventional Braitenberg algorithm and applying a fuzzy control mechanism, in which obstacles are detected by infrared sensors and a navigation map is then created. Using nine infrared sensors, the robot detects obstacles and creates a map while moving in accordance with the improved Braitenberg algorithm in indoor environment. Based on the created map, the robot sets a navigation path by pinning down intermediate pass-through points. Using the proposed fuzzy control algorithm, the robot reaches a target point avoiding fixed obstacles during navigation. For the evaluation of the proposed algorithm, many practical experiments have been carried out with the KheperaIII mobile robot. The experiment results shows that the proposed algorithm creates a contour map for a navigation path efficiently and reaches the target point successfully avoiding fixed obstacles.