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Minimum Path Planning for Mobile Robot using Distribution Density  

Kwak Jae-Hyuk (School of Electrical Engineering and Computer Science, Hanyang University)
Lim Joon-Hong (School of Electrical Engineering and Computer Science, Hanyang University)
Publication Information
Journal of the Institute of Electronics Engineers of Korea SC / v.43, no.3, 2006 , pp. 31-40 More about this Journal
Abstract
Many researches on path planning and obstacle avoidance for the fundamentals of mobile robot have been done. Informations from various sensors can find obstacles and make path. In spite of many solutions of finding optimal path, each can be applied to only a constrained condition. This means that it is difficult to find a universal algorithm. A optimal path with a complicated computation generates a time delay which cannot avoid moving obstacles. In this paper, we propose the algorithm of path planning and obstacle avoidance for mobile robot. We call the proposed method Random Access Sequence(RAS) method. In the proposed method, a small region is set first and numbers are assigned to its neighbors, then the path is selected using these numbers. It has an advantage of fast planning and simple operation. This means that new path selection may be possible within short time and that helps a robot to avoid obstacle in any direction. When a robot meets moving obstacles, it avoids obstacles in a random direction. RAS method using obstacle information from variable sensors is useful to get minimum path length to goal.
Keywords
경로설정;영역확장;이동 로봇;임의순서;
Citations & Related Records
Times Cited By KSCI : 2  (Citation Analysis)
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