대한전자공학회:학술대회논문집 (Proceedings of the IEEK Conference)
- 대한전자공학회 2000년도 하계종합학술대회 논문집(5)
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- Pages.31-34
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- 2000
다중이동로봇의 장애물 회피 및 경로계획 알고리즘에 관한 연구
A Study on the Obstacle Avoidance and Path Planning Algorithm of Multiple Mobile Robot
초록
In this paper, we design an optimal path for multiple mobile robots. For this purpose, we propose a new method of path planning for multiple mobile robots in dynamic environment. First, every mobile robot searches a global path using a distance transform algorithm. Then we put subgoals at crooked path points and optimize them. And finally to obtain an optimal on-line local path, ever)r mobile robot searches a new path with static and dynamic obstacle avoidance.
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