| 摘要 |
PURPOSE: An obstacle avoiding method of a mobile robot improves service performance by minimizing a time delay due to obstacles. CONSTITUTION: When an obstacle is detected (S110), a mobile robot sequentially rotates in one direction to avoid the obstacle (S130). When the mobile robot detects the obstacle while rotating at a randomly selected angle several times, the mobile robot determines a direction blocked by a fixed object or a direction temporarily blocked and memorizes the same (S150). The mobile robot avoids a person by instantaneously rotating in a second direction in the state of heading a first direction by setting two directions having the greatest angle difference among the directions temporarily blocked (S160). [Reference numerals] (AA) Start; (S110) Detect an obstacle while driving; (S120) Can the obstacle be avoided by turning around ?; (S130) Randomly turn around; (S140) Is there any direction at which the obstacle can be avoided ?; (S150) Remember those directions which can not be used due to passengers otherwise available by making a detour; (S160) Turn around using two directions which have the greatest gap between them as the starting and ending points; (S170) Has the obstacle been successfully avoided ?; (S180) Drive |
