The Journal of Korea Robotics Society (로봇학회논문지)
- Volume 2 Issue 2
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- Pages.183-190
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- 2007
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- 1975-6291(pISSN)
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- 2287-3961(eISSN)
Optimal Path Planning of Mobile Robot for Multiple Moving Obstacles
복수의 동적 장애물에 대한 이동로봇의 최적경로설계
Abstract
The most important thing for navigation of a mobile robot is to find the most suitable path and avoid the obstacles in the static and dynamic environment. This paper presents a method to search the optimal path in start space extended to time domain with considering a velocity and a direction of moving obstacles. A modified version of
Keywords
- Time-space state domain;
- Modified $A^*$ Algorithm;
- Moving and multiple obstacles;
- Path planning;
- Collision avoidance;
- Mobile robot