대한전기학회:학술대회논문집 (Proceedings of the KIEE Conference)
- 대한전기학회 1995년도 하계학술대회 논문집 B
- /
- Pages.866-870
- /
- 1995
자율 이동 로봇의 경로 계획
Path Planning of Autonomous Mobile Robot
- Lee, Joo-Ho (Dept. of Electrical Eng., Korea University) ;
- Seo, Sam-Joon (Dept. of Electrical Eng., Korea University) ;
- Park, Gwi-Tae (Dept. of Electrical Eng., Korea University)
- 발행 : 1995.07.20
초록
To make a mobile robot to get to a goal point, path which connects the mobile robot and the goal point is needed and a path planning is necessary. There are various kinds of a path planning. Well known methods are skeleton method, cell decomposition method and potential field method. But each method has both fortes and defects. In this paper, we propose a new method of path planning to find a path for mobile robot. It is obtained by modifying a Voronoi diagram. An original Voronoi diagram can make a safe path but its result is not satisfied. First defect of path, finded by the original Voronoi diagram, is sulplus of safty which make a path longer. Second defect is that the original Voronoi diagram method has a problem of connecting the Voronoi daigram with start/goal point of mobile robot. These defects are removed in proposed algorithm in this paper. We define a function to show the quality of paths. And by computer simulation, paths are compared and its result are shown.
키워드