곡선 궤적을 이용한 주행로봇의 장애물 회피

초록

In this paper, we describe the way how to create a curvature trajectory where the dynamics of a mobile robot is considered. Synchro-drive motor is used in a mobile robot. And, translational and rotaional speeds are controlled independently. Using these tow speeds, a mobile robot traces a smooth curvature trajectory that consists of circle trajectories to a target point. While trying to avoid obstacles, the robot can be goal-directed using curvature trajectory. Also, while the robot can navigate the trajectory, the maximum speed is controlled to trade off speed and safety.