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http://dx.doi.org/10.5302/J.ICROS.2010.16.1.053

Motion Planning of Autonomous Mobile Robot using Dynamic Programming  

Yoon, Hee-sang (충북대학교 대학원 제어로봇공학과)
Park, Tae-Hyoung (충북대학교 전자공학부)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.16, no.1, 2010 , pp. 53-60 More about this Journal
Abstract
We propose a motion planning method for autonomous mobile robots. In order to minimize traveling time, a smooth path and a time optimal velocity profile should be generated under kinematic and dynamic constraints. In this paper, we develop an effective and practical method to generate a good solution with lower computation time. The initial path is obtained from voronoi diagram by Dijkstra's algorithm. Then the path is improved by changing the graph and path simultaneously. We apply the dynamic programming algorithm into the stage of improvement. Simulation results are presented to verify the performance of the proposed method.
Keywords
motion planning; path planning; trajectory planning; autonomous mobile robots; dynamic programming;
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Times Cited By KSCI : 1  (Citation Analysis)
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