전자공학회논문지B (Journal of the Korean Institute of Telematics and Electronics B)
- 제33B권9호
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- Pages.13-23
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- 1996
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- 1016-135X(pISSN)
전위장을 이용한 로봇 경로계획의 구조적 Local minimum을 극복하는 경로계획 방법
A trajectory plannings avoiding structural local minimum problem in robot path planning using potential field
- Nam, Heon-Seong (Dept. of Electronics, Chungnam National Univ.) ;
- Lee, Ji-Hong (Dept. of Mecatronics, Chungnam National Univ.) ;
- Lyou, Joon (Dept. of Electronics, Chungnam National Univ.)
- 발행 : 1996.09.01
초록
When artificial potential field approach is used to avoid obstacle, the problem can be occurred in case that manipulator selects the path which across over an obstacle among paths. In thiscase manipulator can't reach the desired goal form obstacle. This problem is a case of structual local minimum. so this paper proposes the method to solve structual local minimum in this case. The method is that the manipulator goes via temporary goal. This paper proposes that visual region concept to select the temporary goal. The temporary goal is selected on the border of the visual region. To prove its effectiveness, two simulation examples are done by two link manipulator in two dimension and by three link manipulator in three dimension.
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