대한전기학회:학술대회논문집 (Proceedings of the KIEE Conference)
- 대한전기학회 2005년도 제36회 하계학술대회 논문집 D
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- Pages.2790-2792
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- 2005
골격지도와 동적 계획법을 이용한 전역경로계획 알고리즘
Global Path Planning Algorithm Using a Skeleton Map and Dynamic Programming
- Yang, Dong-Hoon (Department of Electronics Engineering, Ajou University) ;
- Hong, Suk-Kyo (Department of Electronics Engineering, Ajou University)
- 발행 : 2005.07.18
초록
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.
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