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ISSN : 1975-6291(Print)
ISSN : 2287-3961(Online)
Journal of Korea Robotics Society Vol.5 No.2 pp.127-134

Virtual Tangential Vector와 퍼지 제어를 이용한 준 3차원 경로계획

곽 경 운1, 정 해 관2, 김 수 현3
1KAIST 기계항공시스템학부 기계공학전공 박사과정, 2연구개발인력교육원 기획연수 1팀, 3/sup>KAIST 기계항공시스템학부 교수

Semi-3D Path Planning using Virtual Tangential Vector and Fuzzy Control

Kyung Woon Kwak1, Hae Kwan Jeong2, Soo Hyun Kim3

Received: Feb. 26, 2010,Reviewed: May. 04, 2010,Accepted: May. 07, 2010


In this paper, a hybrid semi-3D path planning algorithm combining VirtualTangential Vector(VTV) and fuzzy control is proposed. 3D dynamic environmental factors arereflected to the 2D path planning model, VTV. As a result, the robot can control directionfrom 2D path planning algorithm VTV and speed as well depending on the fuzzy inputs suchas the distance between the robot and obstacle, roughness and slope. Performances andfeasibilities of the suggested method are demonstrated by using Matlab simulations. Simulationresults show that fuzzy rules and obstacle avoidance methods are working properly towardvirtual 3D environments. The proposed hybrid semi-3D path planning is expected to be wellapplicable to a real life environment, considering its simplicity and realistic nature of thedynamic factors included.


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