사용자 입력 기반 보행보조기의 장애물 회피 최적화에 관한 연구

In this paper, we propose a method that optimize the obstacle avoidance of walking aid. The System consist of smart handlebar for grasping user"s intend, LRF(Laser Range Finder) for environmental awareness, motor unit for driving and encoder for odometry record. As the algorithm for obstacle avoidance, we have used VFH(Vector Field Histogram). VFH’s direction and speed is extracted from user’s intend. The proposed method was verified by compare manual mode with obstacle avoidance mode in corridor-like course.