전기학회논문지 (The Transactions of The Korean Institute of Electrical Engineers)

  • 제59권4호
  • /
  • Pages.803-808
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  • 2010
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  • 1975-8359(pISSN)
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  • 2287-4364(eISSN)
대한전기학회 (The Korean Institute of Electrical Engineers)
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카디널스플라인을 이용한 자율이동로봇의 곡선경로 생성방법

Smooth Path Planning Method for Autonomous Mobile Robots Using Cardinal Spline

  • 윤희상 (충북대 제어로봇공학과) ;
  • 박태형 (충북대 제어로봇공학과 (컴퓨터정보통신연구소))
  • 투고 : 2009.09.29
  • 심사 : 2010.02.03
  • 발행 : 2010.04.01
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초록

We propose a smooth path planning method for autonomous mobile robots. Due to nonholonomic constraints by obstacle avoidance, the smooth path planning is a complicated one. We generate smooth path that is considered orientation of robot under nonholonomic constraints. The proposed smooth planning method consists of two steps. Firstly, the initial path composed of straight lines is obtained from V-graph by Dijkstra's algorithm. Then the initial path is transformed by changing the curve. We apply the cardinal spline into the stage of curve generation. Simulation results show a performance of proposed smooth path planning method.

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참고문헌

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