SYSTEM AND A METHOD FOR AVOIDING AN OBSTACLE OF A MOBILE ROBOT, CAPABLE OF EFFICIENTLY AND STABLY MOVING A MOBILE ROBOT IN A NARROW SPACE OR PASSAGE

摘要

PURPOSE: A system and a method for avoiding an obstacle of a mobile robot are provided to move a mobile robot by improving an existing potential field method by using fuzzy logic.;CONSTITUTION: A method(10) for avoiding an obstacle of a mobile robot is as follows. Each of the local fuzzy logic having a plurality of fuzzy rules receives distance information of a mobile robot and an obstacle and repulsive force with respect to each obstacle actuated on the mobile robot is calculated. The repulsive force is united. The united repulsive force is divided as many as the number of local fuzzy logics and standardized.;COPYRIGHT KIPO 2013