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

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dc.contributor.authorCha, Y. Y.-
dc.contributor.authorGweon, D. G.-
dc.date.accessioned2011-07-04T07:28:19Z-
dc.date.available2011-07-04T07:28:19Z-
dc.date.issued1998-08-
dc.identifier.citationJournal of the Korean Society for Precision Engineering, Vol.11, No.4en
dc.identifier.urihttp://hdl.handle.net/10203/24397-
dc.description.abstractA 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.en
dc.language.isokoen
dc.publisherKorean Society for Precision Engineeringen
dc.subject국부경로계획en
dc.subject방향성 가중치 방법en
dc.subject레이저 거리계en
dc.subject항법en
dc.subject로봇 비젼en
dc.subject이동 로봇en
dc.title자율 주행로봇을 위한 국부 경로계획 알고리즘en
dc.title.alternativeA Local Path Planning Algorithm for Free-Ranging Mobile Roboten
dc.typeArticleen
dc.subject.alternativeLocal Path Planningen
dc.subject.alternativeDirectional Weighting Methoden
dc.subject.alternativeLaser Range Finderen
dc.subject.alternativeNavigationen
dc.subject.alternativeRobot Visionen
dc.subject.alternativeMobile Roboten
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