Global and Local Path Planning for a Mobile Robot in Dynamic Environments based-on Ultrasonic Information

• Main Authors: Min-JiunLin, 林旻君
• Other Authors: Tzone-I Wang
• Format: Others
• Language: zh-TW
• Published: 2010
• Online Access: http://ndltd.ncl.edu.tw/handle/55751699130268700415

碩士 === 國立成功大學 === 工程科學系碩博士班 === 98 === Most mobile robots operate in a specific confined environment, such as schools, hospitals, offices, etc, with fixed moving paths and stationary objects. However, in such semi-static environments, dynamic interference, like moving people, moving objects, and changing surroundings, to their moving path may happen unexpectedly and result in obstructing the path of a robot. For robots to avoid dynamic obstructions and continue their journey, this study uses multiple ultrasonic sensors to collect real-time surrounding information and establishes a set of rules for detecting the heading and the speed of dynamic obstructions. The global and the local paths are then recalculated to lead robots to their destinations. The rules are realized as algorithms and are implemented to analyze information received from ultrasonic sensors, to trigger the recalculations of global and local paths, and to control the motors of wheels of a robot to avoid unexpected dynamic obstructions. Experiments have been conducted to verify the effectiveness of the mechanism used in this study, and they have yielded promising results.