CAJ | 학술논문

针对室内有人复杂环境下的服务机器人避障问题，提出了一种基于函数模型调控离散PID 控制器的避障算法。通过分析并简化室内有人环境的复杂情况，然后采用递减函数模型对机器人减速后，再采用人工增量法干预 PID 控制器平衡从而进行转弯控制。采用状态栈记录速度与偏角的函数变化，以机器人避过障碍物之后的点为对称点，开始恢复行走方向，达到绕行的效果。最后，通过实验证明了这种减速后再寻找最佳方向避障的算法的有效性和安全性。
침대실내유인복잡배경하적복무궤기인피장문제，제출료일충기우함수모형조공리산PID 공제기적피장산법。통과분석병간화실내유인배경적복잡정황，연후채용체감함수모형대궤기인감속후，재채용인공증량법간예 PID 공제기평형종이진행전만공제。채용상태잔기록속도여편각적함수변화，이궤기인피과장애물지후적점위대칭점，개시회복행주방향，체도요행적효과。최후，통과실험증명료저충감속후재심조최가방향피장적산법적유효성화안전성。
To solve the problem of the service robot obstacle avoidance in human environments, a control algorithm based on PID controller with artificial increment for obstacle avoidance is proposed. Firstly, the complex situation is simplified. Next, a linear gradient algorithm is adopted to decrease the speed of the robot and then control it to turn. For static or relatively slower obstacles , robot can record the orientation and offset of robot with status stack. After the robot has avoided obstacles , it can restore the walking direction of original purpose to reach the effect of bypassing obstacles. Finally , the efficacy and safety of this kind of algorithm which is slowing down to find the optimal direction for obstacle avoidance was proved through the experiment.