DC Field | Value | Language |
---|---|---|
dc.contributor.author | 이대규 | ko |
dc.contributor.author | 강규리 | ko |
dc.contributor.author | 김태진 | ko |
dc.contributor.author | 심현철 | ko |
dc.contributor.author | 정훈 | ko |
dc.contributor.author | 김은혜 | ko |
dc.date.accessioned | 2023-11-25T09:01:46Z | - |
dc.date.available | 2023-11-25T09:01:46Z | - |
dc.date.created | 2023-11-25 | - |
dc.date.issued | 2023-02 | - |
dc.identifier.citation | 로봇학회 논문지, v.18, no.1, pp.10 - 17 | - |
dc.identifier.issn | 1975-6291 | - |
dc.identifier.uri | http://hdl.handle.net/10203/315179 | - |
dc.description.abstract | Recently, robots have been actively utilized for logistics and delivery services in various places such as restaurants, hotels, and hospitals. In addition, it provides a safer environment, convenience, and cost efficiency to the customers. However, when it comes to autonomous delivery in a multi-floor environment, the task is still challenging. Especially for wheeled mobile robots, it is necessary to deal with elevators to perform the last-mile delivery services. Therefore, we present a multi-floor route planning algorithm that enables a wheeled mobile robot to traverse an elevator for the delivery service. In addition, an elevator boarding mission algorithm was developed to perceive the drivable region within the elevator and generate a feasible path that is collision-free. The algorithm was tested with real-world experiments and was demonstrated to perform autonomous postal delivery service in a multi-floor building. We concluded that our study could contribute to building a stable autonomous driving robot system for a multi-floor environment. | - |
dc.language | Korean | - |
dc.publisher | 한국로봇학회 | - |
dc.title | 다층 환경에서의 라스트 마일 배송 서비스를 위한 경로 계획 및 엘리베이터 탑승 알고리즘 | - |
dc.title.alternative | Route Planning and Elevator Boarding Algorithms for Last Mile Delivery Service in Multi-floor Environments | - |
dc.type | Article | - |
dc.type.rims | ART | - |
dc.citation.volume | 18 | - |
dc.citation.issue | 1 | - |
dc.citation.beginningpage | 10 | - |
dc.citation.endingpage | 17 | - |
dc.citation.publicationname | 로봇학회 논문지 | - |
dc.identifier.doi | 10.7746/jkros.2023.18.1.010 | - |
dc.identifier.kciid | ART002933525 | - |
dc.contributor.localauthor | 심현철 | - |
dc.contributor.nonIdAuthor | 김태진 | - |
dc.contributor.nonIdAuthor | 정훈 | - |
dc.contributor.nonIdAuthor | 김은혜 | - |
dc.description.isOpenAccess | N | - |
dc.subject.keywordAuthor | Delivery Robot | - |
dc.subject.keywordAuthor | Path Planning | - |
dc.subject.keywordAuthor | Task and Motion Planning | - |
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