대한전기학회:학술대회논문집 (Proceedings of the KIEE Conference)
- 대한전기학회 2007년도 심포지엄 논문집 정보 및 제어부문
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- Pages.79-80
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- 2007
다족 모바일 로봇의 최적 경로 생성을 위한 3D 시뮬레이터의 개발
Development of a 3D simulator for optimal path generation of a mobile multiped robot
- Kim, Ki-Woo (School of Electrical Engineering, Inha University) ;
- Choi, Woo-Chang (School of Electrical Engineering, Inha University) ;
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Yoo, Young-Kuk
(School of Electrical Engineering, Inha University) ;
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Kim, Jin-Geol
(School of Electrical Engineering, Inha University)
- 발행 : 2007.10.26
초록
This paper deals with generating multi-ped mobile robot's optimal path and its simulation. The multi-ped robot has six-legs which make it possible to move actively by attached driving wheel at the end of legs. The simulation environment is created similarly to the indoor environment as simple obstacles and walls. Also simulator can reconstruct an simulation environment. In this paper, the suggested simulator can generate the optimal path from starting point to destination by applying the A* algorithm and Bug2 algorithm. Then it is possible to check algorithms as 3D screen and we can simulate under the generated path.
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