Proceedings of the KIEE Conference (대한전기학회:학술대회논문집)
- 2004.11c
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- Pages.520-522
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- 2004
A Path Planning of Mobile Robot using Distribution Density
분포 밀도를 이용한 이동 로봇의 최적 경로
- Published : 2004.11.12
Abstract
In this paper, we propose the algorithm of path planning and obstacle avoidance for mobile robot. We call the proposed method Random Access Sequence(RAS) method. In the proposed method, a small region is set first and numbers are assigned to its neighbors, then the path is selected using these numbers. It has an advantage of fast planning and simple operation. This means that new path selection may be possible within short time and that helps a robot to avoid obstacle in any direction. When a robot meets moving obstacles, it avoids obstacles in a random direction. Sonar ranger is useful to get obstacle information and RAS may be a good solution for path planning.