비전센서를 사용하는 이동로봇의 골격지도를 이용한 지역경로계획 알고리즘

This paper proposes a local path-planning algorithm that enables a mobile robot with vision sensor in a local area. The proposed method based on projective geometry and a wavefront method finds local-paths to avoid collisions using 3-D walls or obstacles map generated using projective geometry. Simulation results show the feasibility of the proposed method