분포밀도를 이용한 이동로봇의 최적경로

Abstract

In this paper, we propose the algorithm of path planning and obstacle avoidance for mobile robot. We call method Random Access Sequence(RAS) method. In the proposed method, a smaU region is set frirst and assigned to its neighbors, then the path is selected using these numbers. It has an advantage of fast simple operation. This means that new path selection may be possible within short time and that helps a robot to avoid obstacle in any direction. When a robot meets moving obstacles, it aviods obstacles in a random direction. Sonar ranger is useful to get obstacle information and RAS may be a good solution for path planning.