Obstacle Avoidance Method of a Mobile Robot Using Lane Method

摘要

PURPOSE: A method for preventing a moving robot from colliding with an obstacle is provided to allow the moving robot to effectively move to an aimed direction by detecting the obstacle using a sensor. CONSTITUTION: A moving robot receives an order at each sampling time to move in a predetermined direction. The moving robot receives a translation speed order and a rotation speed order. In case of a wheel-driving robot, a rotation speed order for each driving wheel is transmitted to the wheel-driving robot. The translation speed order and the rotation speed order are converted into the rotation speed order for each driving wheel. In order to move the moving robot, a proper traffic lane is firstly selected. Then, a moving direction of the moving robot is determined. After that, the moving robot receives the translation speed order and the rotation speed order.