A feature information based VPH for local path planning with obstacle avoidance of the mobile robot

Tae-Seok Oh; Yun-Su Shin; Sung-Yong Yun; Wang-Heon Lee; Il-Hwan Kim

doi:10.1117/12.784481

9 January 2008 A feature information based VPH for local path planning with obstacle avoidance of the mobile robot

Tae-Seok Oh, Yun-Su Shin, Sung-Yong Yun, Wang-Heon Lee, Il-Hwan Kim

Proceedings Volume 6794, ICMIT 2007: Mechatronics, MEMS, and Smart Materials; 679425 (2008) https://doi.org/10.1117/12.784481
Event: ICMIT 2007: Mechatronics, MEMS, and Smart Materials, 2007, Gifu, Japan

Abstract

This study shows how a mobile service robot can avoid obstacles, and presents a VPH method using feature information for Local Path Planning. It is not easy to make a mobile service robot automatically move towards the goal. Path Planning lays out the path through which a robot follows to reach the goal. It can be divided into two folds: Global Path Planning (GPP) and Local Path Planning (LPP). Local path planning sets a path in a changing environment with moving obstacles such as in a museum and exhibition hall so that the robot reaches the goal without any collision. This study evaluates the Fusion Map-VPH (FM-VPH) Local path planning method with improved VPH by making use of the combined data drawn up through the ultrasonic sensor and laser sensor and by means of feature information. The results of the simulations and experiments have verified the validity of the methods described.

Citation Download Citation

Tae-Seok Oh, Yun-Su Shin, Sung-Yong Yun, Wang-Heon Lee, and Il-Hwan Kim "A feature information based VPH for local path planning with obstacle avoidance of the mobile robot", Proc. SPIE 6794, ICMIT 2007: Mechatronics, MEMS, and Smart Materials, 679425 (9 January 2008); https://doi.org/10.1117/12.784481

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