경험적 방법에 기초한 무인 반송차의 항법 알고리즘

Abstract

A path planning algorithm using a laser range finder are presented for real-time navigation of an autonomous guided vehicle. Considering that the laser range finder has the excellent resolution with respect to angular and distance measurements, a sophisticated local path planning algorithm is achieved by using the human`s heuristic method. In the case of which the man knows not the path, but the goal direction, the man forwards to the goal direction, avoids obstacle if it appears, and selects the best pathway when there are multi-passable ways between objects. These heuristic principles are applied to the path decision of autonomous guided vehicle such as forward open, side open and no way. Also, the effectiveness of theestablished path planning algorithm is estimated by computer simulation in complex environment.