레이저거리계를 이용한 자율 주행로봇의 국부 경로계획 알고리즘A Local Path Planning Algorithm of Free Ranging Mobile Robot Using a Laser Range Finder

Cited 0 time in webofscience Cited 0 time in scopus
  • Hit : 282
  • Download : 3
Considering that the laser range finder has the exellent resolution with respect to angular and distance measurements, a sophisticated local path planning algorithm is achieved by subgoal and sub-subgoal searching methods. The subgoal searching finds the passable ways between obstacles and selects the optimal pathway in order to reduce the moving distanced from start point to given to given goal. On the other hand, the sub-subgoal searching corrects the path given in subgoal of the established local path planning and local minimum avoiding algorithm are estimated by computer simulation and experimentation in complex environment.
Publisher
대한기계학회
Issue Date
1995
Keywords

경로계획; 레이저거리계; 부목표점 탐색; 부-부목표점 탐색; 국부 최소점 문제; 로봇비전; 주행로봇

Citation

대한기계학회논문집, Vol.19, No.4, pp.887-895

URI
http://hdl.handle.net/10203/24400
Appears in Collection
ME-Journal Papers(저널논문)

qr_code

  • mendeley

    citeulike


rss_1.0 rss_2.0 atom_1.0