Proceedings of the Korean Institute of Intelligent Systems Conference (한국지능시스템학회:학술대회논문집)

Korean Institute of Intelligent Systems (한국지능시스템학회)
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Optimal Path planning and navigation for an autonomous mobile robot

  • Lee, Jang-Gyu- (Automation and Systems Research Institute & Department of Control and Instrumentation Engineering, Seoul National University) ;
  • Hakyoung-Chung (Automation and Systems Research Institute & Department of Control and Instrumentation Engineering, Seoul National University)
  • Published : 1993.06.01
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Abstract

This paper presents a methodology of path planning and navigation for an autonomous mobile robot. A fast algorithm using decomposition technique, which computes the optimal paths between all pairs of nodes, is proposed for real-time calculation. The robot is controlled by fuzzy approximation reasoning. Our new methodology has been implemented on a mobile robot. The results show that the robot successfully navigates to its destination following the optimal path.

Keywords