Proceedings of the KIEE Conference (대한전기학회:학술대회논문집)
- 1998.07g
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- Pages.2342-2344
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- 1998
A study on the path planner for a mobile robot in partially known environment
부분적으로 알려진 환경에 대한 이동 로봇의 경로 생성 계획기에 관한 연구
- Seo, Young-Sup (Dept. of Industrial automation. Inha univ.) ;
- Park, Chun-Ug (Dept. of Industrial automation. Inha univ.) ;
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Kim, Jin-Geol
(Dept. of Industrial automation. Inha univ.)
- Published : 1998.07.20
Abstract
In this paper, the path planner is presented for a robot to achieve an efficient path forward the given goal position in two dimensional environment which is involved with partially unknown obstacles. The path planner consists of three major components: off-line path planning, on-line path planning, and modification of planned path. Off-line path planning is based on known environment and creates the shortest path. On-line path planning is for finding unknown obstacles. The modification can be accomplished, by genetic algorithm, to be smooth path for preventing slippage and excessive centrifugal force.
Keywords