제어로봇시스템학회:학술대회논문집

제어로봇시스템학회 (Institute of Control, Robotics and Systems)
권호 표지

Mobile Robot navigation using an Multi-resolution Electrostatic Potential Filed

  • Kim, Cheol-Taek (Department of Electrical Engineering, Korea Advanced Institute of Science and Technology) ;
  • Lee, Ju-Jang (Department of Electrical Engineering, Korea Advanced Institute of Science and Technology)
  • 발행 : 2004.08.25
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초록

This paper proposes a multi-resolution electrostatic potential field (MREPF) based solution to the mobile robot path planning and collision avoidance problem in 2D dynamic environment. The MREPF is an environment method in calculation time and updating field map. The large scale resolution map is added to EPF and this resolution map interacts with the small scale resolution map to find an optimal solution in real time. This approach can be interpreted with Atlantis model. The simulation studies show the efficiency of the proposed algorithm.

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