미지 환경에서의 자율주행 로봇의 청소 알고리즘

A Sweeping Algorithm for an Autonomous Mobile Robot under the Unknown Environment

  • 박주용 (영남대 공대 컴퓨터공학과) ;
  • 이기동 (영남대 공대 컴퓨터공학과)
  • Park, Ju-Yong (Dept.of Computer Engineering, Yeungnam University) ;
  • Lee, Gi-Dong (Dept.of Computer Engineering, Yeungnam University)
  • 발행 : 1999.01.01

초록

There has been an ever increasing interest in mobile robot for home services. However, issues currently being investigated for path planning of the mobile robot is concentrated to solving the problem of finding the optimal path from the initial location to the final location under the given performance index. In this study, we newly present a sweeping algorithm for autonomous mobile robot to cover the whole closed area under the unknown environment. And we verify the validity the validity of the formalized algorithm by computer simulation with the changing environment conditions. In addition to this, we analyse the effect of real system implementation of the proposed algorithm to a experimental miniature mobile robit(Khepera).

키워드

참고문헌

  1. IEEE Trans. Comput. v.C-32 Spatial planning : A configuration space approach T.Lozano-Perez
  2. IEEE Trans. Robotics and Automat. v.RA-3 no.3 A simple motion-planning algorithm for general robot manipulators T.Lozano-Perez
  3. Int. J. Robotics Res. v.5 no.1 Real-time obstacle avoidance for manipulators and mobile robots O.Khatib
  4. IEEE Trans. Robotics and Automat. v.11 no.2 Sliding mode control for gradient tracking and robot navigation using artificial potential fieds J.Guldner;V.I.Utkin
  5. Int. J. Robotics Res. v.5 no.3 Toward efficient trajectory planning: The path-velocity decomposition K.Kant;S.W.Zucker
  6. IEEE Trans. Syst., Man, Cybern. v.17 no.1 Collision-free motion planning of two robots B.H.Lee;C.S.G.Lee
  7. IEEE Trans. Robotics and Automat. v.RA-1 no.1 Distance functions and their application to robot path planning in the presence of obstacles E.G.Gilbert;D.W.Johnson
  8. Proceedings of the 1989 IEEE Int. Conf. on Robotics and Automat. A new algorithm for detecting the collision of moving objects E.G.Gilbert;S.M.Hong
  9. 대한전기학회논문지 v.45 no.7 네트워크 분할 기법을 이용한 이동로보트의 경로계획II-최적경로계산 정학영;이장규
  10. IEEE Trans. Robotics and Automat. v.5 no.2 Motion Planning in a plane using generalized Voronoi diagrams O.Takahashi;R.J.Schilling
  11. IEEE Trans. Robotics and Automat. v.RA-6 no.1 Computing the distance function between general convex objects in three dimensional space E.G.Gilbert;C.P.Foo
  12. IEEE Trans. Robotics and Automat. v.8 no.6 A mobile robot exploration algorithm A Zelinsky
  13. Autonomouse vacuum cleaner Iwan R. Ulrich;Francesco Mondada;J. D. Nicoud
  14. Proceeding of the 1997 IEEE Office waste cleanup: an application for service robots E. Prassler;E. stroulia;M. Strobel
  15. Service Robots international Journal v.1 Cleaning robots Schofield, M.
  16. Advanced Robotics Robot introduction to cleaning work in the East Japan Railway Company Hiroshi yaguch
  17. IEEE transaction Robotics and Automation v.8 A mobile robot exploration algorithm A. Zelinsky
  18. IEEE transaction Robotics and Automation Motion Planning in a Plane using general voronoi diagrams O. Takahashi;R. J. Schilling
  19. Robot Motion Planning Latombe