OBSTACLE AVOIDING SYSTEM FOR A PERSONAL MOBILITY AND A METHOD FOR AVOIDING AN OBSTACLE USING THE SAME

摘要

In the obstacle avoidance system of the personal moving mechanism and the obstacle avoiding method using the same, the obstacle avoidance system includes a scanning unit, a floor surface extracting unit, an obstacle map generating unit, an obstacle information extracting unit, a avoiding direction calculating unit, and a driving control unit. The scanning unit acquires depth information on the front of the personal moving mechanism and converts the acquired depth information into three-dimensional point data. The bottom surface extracting unit extracts bottom surface data from the three-dimensional point data. The obstacle map generation unit generates a two-dimensional obstacle map from the floor data. The obstacle information extracting unit extracts obstacle information from the two-dimensional obstacle map. The avoidance direction calculation unit calculates a direction for avoiding the obstacle when an obstacle is detected from the obstacle information. And the drive control unit drives the personal moving mechanism in the avoidance direction.