자율 주행로봇을 위한 국부 경로계획 알고리즘A Local Path Planning Algorithm for Free-Ranging Mobile Robot

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A new local path planning algorithm for free-ranging mobile robots is proposed. considering that a laser range finder has the excellent resolution with respect to angular and distane measurements, a simple local path planning algorithm is achieved by a directional weighting method for obtaining a heading direction of mobile robot. The directional weighting method decides the heading direction of the mobile robot by estimating the attractive resultant force which is obtained by direcctional weghting function times range data, and testing whether the collision-free path and the open pathway conditions are satisfied. Also, the effectiveness of the established local path planning algorithm is estimates by computer simulation in complex environment.
Publisher
Korean Society for Precision Engineering
Issue Date
1998-08
Keywords

국부경로계획; 방향성 가중치 방법; 레이저 거리계; 항법; 로봇 비젼; 이동 로봇

Citation

Journal of the Korean Society for Precision Engineering, Vol.11, No.4

URI
http://hdl.handle.net/10203/24397
Appears in Collection
ME-Journal Papers(저널논문)

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