A Path Generation Algorithm of Autonomous Robot Vehicle Through Scanning of a Sensor Platform

Abstract

A path generation through use of a sensor platform is proposed. The sensor platform is composed of two electric motors which make panning and tilting motions. An algorithm for computing a real path and an obstacle length is developed by using a scanning method that controls rotation of the sensors on the platform. An autonomous robot vehicle (ARV) can recognize the given path by adapting this algorithm. A scanning algorithm for recognizing environments around the ARV is applied to the sensor platform. The path generation algorithm is composed of two parts: one is recognizing a path pattern; and the other is used to avoid an obstacle. An optimal controller is designed for tracking the reference path which is generated by recognizing the path pattern. Using the optimal controller and path generation algorithm, the ARV is constructed. Based on the results of actual experiments, this algorithm for an ARV proved sufficient for path generation by a small number of sensors and for a low cost controller using the sensor platform with a scanning method.