대한전기학회논문지:시스템및제어부문D (The Transactions of the Korean Institute of Electrical Engineers D)

대한전기학회 (The Korean Institute of Electrical Engineers)
권호 표지

이동 로봇의 주행을 위한 새로운 지도 구성 방법 및 경로 계획에 관한 연구

A Study on New Map Construction and Path Planning Method for Mobile Robot Navigation

  • 오준섭 (연세대학교 전기 및 컴퓨터 공학과) ;
  • 박진배 (연세대학교 전기 및 컴퓨터공학과) ;
  • 최윤호 (경기대학교 전자·기계공학부)
  • 발행 : 2000.09.01
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초록

In this paper we proposed a new map construction and path planning method for mobile robot. In our proposed method first we introduced triangular representation map that mobile robot can navigate through shorter path and flexible motion instead of grid representation map for mobile robot navigation. method in which robot can navigate complete space through as short path as possible in unknown environment is proposed. Finally we proposed new path planning method in a quadtree representation map. To evaluate the performance of our proposed new path planning method in a quadtree representation map. To evaluate the performance of our proposed triangular representation map it was compared with the existing distance transform path planning method. And we considered complete coverage navigation and new path planning method through several examples.

키워드

참고문헌

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