김선도 노치원 강성철 송재복 강연식 2024-01-20T23:02:38Z 2024-01-20T23:02:38Z 2021-09-06 2008-07 1976-5622 https://pubs.kist.re.kr/handle/201004/133339 In this paper, we used a laser range finder (LRF) to detect both the static and dynamic obstacles for the safe navigation of a mobile robot. LRF sensor measurements containing the information of obstacles geometry are first processed to extract the characteristic points of the obstacle in the sensor field of view. Then the dynamic states of the characteristic points are approximated using kinematic model, which are tracked by associating the measurements with Probability Data Association Filter. Finally, the collision avoidance algorithm is developed by using fuzzy decision making algorithm depending on the states of the obstacles tracked by the proposed obstacle tracking algorithm. The performance of the proposed algorithm is evaluated through experiments with the experimental mobile robot. Korean 제어·로봇·시스템학회 실외 자율주행 로봇을 위한 다수의 동적 장애물 탐지 및선속도 기반 장애물 회피기법 개발 Multiple Target Tracking and Forward Velocity Controlfor Collision Avoidance of Autonomous Mobile Robot Article 1 제어.로봇.시스템학회 논문지, v.14, no.7, pp.635 - 641 제어.로봇.시스템학회 논문지 14 7 635 641 scopus kci ART001264735 mobile robot laser sensor multiple obstacle tracking collision avoidance fuzzy decision making