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http://dx.doi.org/10.13067/JKIECS.2013.8.1.149

A Path Generation Method for a Autonomous Mobile Robot based on a Virtual Elastic Force  

Kwon, Young-Kwan (서울과학기술대학교 NID융합기술대학원)
Publication Information
The Journal of the Korea institute of electronic communication sciences / v.8, no.1, 2013 , pp. 149-157 More about this Journal
Abstract
This paper describes a global path planning method and path optimization algorithm for autonomous mobile robot based on the virtual elastic force in a grid map environment. A goal of a path planning is information for a robot to go its goal point from start point by a effective way. The AStar algorithm is a well-known method for a grid based path planning. This paper suggest a path optimization method by a virtual elastic force and compare the algorithm with a orignal AStar method. The virtual elastic force makes a shorter and smoother path. It is a profitable algorithm to optimize a path in a grid environment.
Keywords
Global Path Planning; Mobile Robot; Virtual Elastic Force; Path Optimization;
Citations & Related Records
Times Cited By KSCI : 3  (Citation Analysis)
연도 인용수 순위
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