다족 모바일 로봇의 최적 경로 생성을 위한 3D 시뮬레이터의 개발

Development of a 3D simulator for optimal path generation of a mobile multiped robot

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.