Global Path Planning Algorithm Using a Skeleton Map and Dynamic Programming

골격지도와 동적 계획법을 이용한 전역경로계획 알고리즘

This paper proposes a path-planning algorithm that enables a robot to reach the goal position while avoiding obstacles. The proposed method, which is based on dynamic programming, finds an optimum path to follow using a modified skeleton map method which exploits information on obstacle positions. Simulation results show the feasibility of the proposed method.