속도 및 곡률 제한을 고려한 협업 모바일 로봇의 장애물 회피 기법

Abstract

This paper solves an obstacle avoidance problem for cooperative robots considering the velocity and curvature constraints. Existing approaches for cooperative robots based on potential flow can generate the smooth paths for obstacle avoidance, but they cannot consider the velocity and curvature constraints for smooth path. Optimization approach can handle such constraints, but they often require a heavy computational load. To solve these issues, this paper propose a simple approach based on curvature-constrained stream potential flow and streamline changing algorithm. By using this simple approach, a smooth path for cooperative robots can be generated in real-time. The simulation results show the comparison results of existing approach.