OBSTACLE DETECTION SYSTEM OF AUTONOMOUS MOBILE ROBOT SING LRF IN DYNAMIC ENVIRONMENT

摘要

The present invention relates to a system to detect an obstacle of an autonomous mobile robot using an LRF in a dynamic environment. The system to detect the obstacle of the autonomous mobile robot using the LRF in a dynamic environment comprises: an LRF unit formed with a laser scanner scanning an obstacle; an encoder to determine a location and posture of the mobile robot; a data treatment unit making a map with data received from the LRF unit, extracting a feature point, and giving a driving unit control command; and the driving unit including a motor driver to drive the mobile robot and a motor. The system to detect the obstacle of the autonomous mobile robot using the LRF in the dynamic environment extracts a movable obstacle from the data of a fixated obstacle obtained through the LRF unit, thereby moving to a destination while avoiding the movable obstacle using the information of the fixated obstacle when the destination to be approached is designated.