동적환경에서의 인지에 기반한 이동로봇의 운항계획

Abstract

Lee et al. have proposed a framework for the linguistic map-based navigational planning of a mobile robot on dynamic environment and provided simulation results applied it to the static environment[l]. In this paper. we extends the navigational planning of a mobile robot into dynamic environment. There are two kinds of dynamic obstacles: (1) Time-obstacles that change condition of obstacles wi th time. (2) Space-obstacles that move their position wi th time. We propose an algorithm which a mobile robot identifies and avoids the two kinds of dynamic obstacles. The proposed algorithm consists of two stages: (1) The fuzzy logic-based perception stage which identifies the dynamic obstacles around a mobile robot by using sensory data and fuzzy rules. (2) The planning stage which plans the path to goal by avoiding the dynamic obstacles[2-6]. We provide computer simulation results for a mobile robot in order to show the validity of the proposed algorithm.