Obstacle avoidance system and method for mobile robots

Obstacle Avoidance System and Method for Mobile Robots

This technology is a system that controls the integrated velocity vector of a mobile robot in real time. To overcome the local minimum and chattering issues associated with artificial potential field techniques, it generates variable switching signals based on the distance and relative angle between the robot and obstacles, combining these with repulsive and attractive force vectors.

Existing potential field-based obstacle avoidance methods often suffer from reduced efficiency and delays due to robots getting stuck in local minima or experiencing control input oscillations (chattering) when approaching obstacles.

This technology is a control system and method that optimizes paths in real time by calculating first (circular), second (supplementary), and third (non-circular) switching signals based on obstacle shape, and fusing them with repulsive and attractive force vectors derived by a vector calculation unit to determine the robot's integrated velocity vector. Applicable to rehabilitation training, gait assistance, and medical/welfare services, it improves the efficiency and reliability of obstacle avoidance in mobile robots by resolving issues such as local minima, oscillations, and chattering.

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Key Features:

• A signal generation unit that, when an obstacle is detected by the sensing unit, generates a switching signal determined by considering the shape of the obstacle, the distance between the mobile robot and the obstacle, and their relative angle.
• A vector calculation unit that computes the repulsive force vector between the mobile robot and the obstacle, and the attractive force vector between the mobile robot and the target point, using location information obtained from the position acquisition unit.
• A position acquisition unit capable of obtaining location information for the mobile robot, obstacles, and the target point.
• A path determination unit that decides the movement path of the mobile robot using the attractive force vector and the switching signal.

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This invention was developed with support from the Ministry of Science, ICT and Future Planning for the development of intelligent robot convergence technology for new and renewable energy.