영역 확장을 이용한 이동 로봇의 경로 설정

Abstract

In this paper, an algorithm of path planning and obstacle avoidance for mobile robot is proposed. We call the proposed method Random Access Sequence (RAS) method. In the proposed method, a small region is set first and numbers are assigned to its neighbors. By processing assigned numbers all regions are covered and then the path from start to destination is selected by these numbers. The RAS has an advantage of fast planning because of simple operations. This implies that new path selection may be possible within a short time and helps a robot to avoid obstacles in any direction. The algorithm can be applied to unknown environments. When moving obstacles appear, a mobile robot avoids obstacles reactively, then new path is selected by RAS.