대한전기학회논문지:전력기술부문A (The Transactions of the Korean Institute of Electrical Engineers A)

대한전기학회 (The Korean Institute of Electrical Engineers)
권호 표지

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
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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).

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참고문헌

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