The Journal of Korea Robotics Society (로봇학회논문지)

Korea Robotics Society (한국로봇학회)
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Path Planning based on Ray-casting in Indoor Environments for Safe Navigation of a Mobile Robot

이동로봇의 안전한 주행을 위한 광선투사법 기반의 실내 경로계획

  • 김종원 (고려대학교 메카트로닉스 협동과정 대학원) ;
  • 송재복 (고려대학교 기계공학부)
  • Received : 2010.07.09
  • Accepted : 2010.11.09
  • Published : 2010.11.30
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Abstract

A gradient method can provide a global optimal path in indoor environments. However, the optimal path can be often generated in narrow areas despite a sufficient wide area which lead to safe navigation. This paper presents a novel approach to path planning for safe navigation of a mobile robot. The proposed algorithm extracts empty regions using a ray-casting method and then generates temporary waypoints in wider regions in order to reach the goal fast and safely. The experimental results show that the proposed method can generate paths in the wide regions in most cases and the robot can reach the goal safely at high speeds.

Keywords

References

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