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Implementing Dynamic Obstacle Avoidance of Autonomous Multi-Mobile Robot System

  • Journal of The Korea Society of Computer and Information
  • Abbr : JKSCI
  • 2013, 18(1), pp.11-19
  • Publisher : The Korean Society Of Computer And Information
  • Research Area : Engineering > Computer Science

Dong W. Kim 1,  Yi Chong Ho 1

1인하공업전문대학

Accredited

ABSTRACT

For an autonomous multi-mobile robot system, path planning and collision avoidance are important functions used to perform a given task collaboratively and cooperatively. This study considers these important and challenging problems. The proposed approach is based on a potential field method and fuzzy logic system. First, a global path planner selects the paths of the robots that minimize the cost function from each robot to its own target using a potential field. Then, a local path planner modifies the path and orientation from the global planner to avoid collisions with static and dynamic obstacles using a fuzzy logic system. In this paper, each robot independently selects its destination and considers other robots as dynamic obstacles, and there is no need to predict the motion of obstacles. This process continues until the corresponding target of each robot is found. To test this method, an autonomous multi-mobile robot simulator (AMMRS) is developed, and both simulation-based and experimental results are given. The results show that the path planning and collision avoidance strategies are effective and useful for multi-mobile robot systems.

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* References for papers published after 2023 are currently being built.

This paper was written with support from the National Research Foundation of Korea.
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