한국지능시스템학회:학술대회논문집 (Proceedings of the Korean Institute of Intelligent Systems Conference)
- 한국퍼지및지능시스템학회 2003년도 ISIS 2003
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- Pages.500-503
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- 2003
3D PASSAGE NAVIGATION UNDER UNKNOWN ENVIRONMENTS BASED ON DISTANCE FIELD SPACE MODEL
- Nagata, Yoshitaka (Department of information and Computer Sciences, Kanagawa Institute of Technology) ;
- Murai, Yasuyuki (Department of information and Computer Sciences, Kanagawa Institute of Technology) ;
- Tsuji, Hiroyuki (Department of information and Computer Sciences, Kanagawa Institute of Technology) ;
- Tokumasu, Shinji (Department of information and Computer Sciences, Kanagawa Institute of Technology)
- 발행 : 2003.09.01
초록
The navigation problem of robot is one of the main themes to deal with conficts or interferences between obstacles and the robot itself In this case, while the robot avoids obstacles on the space, the passage route should be determined efficiently. In order to solve problems above, we have come up with the distance field space medel (DFM) and then, under known environment, we have presented the distance field A algorithm for passage route path search. In this research, the method of performing the 3-dimensional passage route path search of robot under unknown environment is proposed. It is shown that the authors can build the distance search model the does not need space division by taking into account of sensor information to a distance field space model, and constructing this information as virtual obstacle information.
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