3D거리센서와 초음파센서를 이용한 이동로봇의 장애물 회피

In indoor environment, an autonomous mobile robot which map info is not given should reach a target by only two references which data of distance between robot and the target and obstacles on the way. But in real \vorId, the robot has a problem to move because of fewer sensors and unreliable data from sensors. Previous method for obstacle avoidance has a problem to recognize low height obstacles. This paper proposed a solution that three-dimensional space data is convelted into one-dimensional histogram by fusing ultrasonic and 3D range sensors, The method mentioned above makes the robot in unknown environment to find a way more efficiently.