| 摘要 |
An obstacle avoidance direction guiding system having plural sensors is provided to decide an avoidance direction quickly by storing avoidance directions corresponding to all number of cases generated in a sensor array, in a look-up table in advance and referring to a value of the look-up table corresponding to the combination of distance data about each sensor. An obstacle avoidance direction guiding system(100) having plural sensors is composed of a sensor array(110) including plural sensors measuring the distance to an obstacle; a control unit(120) receiving distance data(115) about each sensor from the sensor array and deciding an avoidance direction by using the received distance data; and an avoidance direction guiding unit(130) guiding the avoidance direction determined according to the control of the control unit. The control unit divides the distance data measured in each sensor, into the predetermined number of sections according to each data value, stores the avoidance directions for number of cases generated in the sensor array, in a look-up table(125), and determines the avoidance direction with reference to a value of the look-up table corresponding to the combination of distance data for each sensor received from the sensor array. In addition, the control unit stores the avoidance direction of the previous frame, compares the avoidance directions of the present and previous frames, and then maintains the avoidance direction of the previous frame if the directions are opposite to each other. |
