DC Field | Value | Language |
---|---|---|
dc.contributor.author | Choi, CK | ko |
dc.contributor.author | Lee, Ju-Jang | ko |
dc.date.accessioned | 2009-01-09T07:37:27Z | - |
dc.date.available | 2009-01-09T07:37:27Z | - |
dc.date.created | 2012-02-06 | - |
dc.date.created | 2012-02-06 | - |
dc.date.issued | 1996-02 | - |
dc.identifier.citation | MECHATRONICS, v.6, no.1, pp.81 - 100 | - |
dc.identifier.issn | 0957-4158 | - |
dc.identifier.uri | http://hdl.handle.net/10203/8265 | - |
dc.description.abstract | A dynamical local path-planning algorithm of an autonomous mobile robot available for moving obstacle avoidance as well as stationary obstacle avoidance using artificial pressure and nonlinear friction is described. The dynamical path-planning algorithm is considered to adequately accommodate the mobile robot to a dynamic situation of a path-planning nature. Artificial pressure is just a conceptual idea and a mimicry of the real physical pressure. It can be thought of as a density gradient in the neighborhood of the mobile robot. Together with the previous virtual force field (VFF) method, the path of the mobile robot is a solution of a path-planning equation. Local minima problems in stationary environments are solved by introducing nonlinear friction into the chaotic neuron. Due to the nonlinear friction, the proposed path-planner reveals chaotic dynamics in some parameter regions. This new path-planner is feasible in guiding, on real-time, the mobile robot to avoid stationary obstacles and reach the goal. Computer simulations are presented to show the effectiveness of the proposed algorithm. | - |
dc.language | English | - |
dc.language.iso | en_US | en |
dc.publisher | PERGAMON-ELSEVIER SCIENCE LTD | - |
dc.subject | TIME OBSTACLE AVOIDANCE | - |
dc.subject | CONFIGURATION-SPACE | - |
dc.subject | NAVIGATION | - |
dc.title | Dynamical path-planning algorithm of a mobile robot: Local minima problem and nonstationary environments | - |
dc.type | Article | - |
dc.identifier.wosid | A1996TV56600005 | - |
dc.identifier.scopusid | 2-s2.0-0030084856 | - |
dc.type.rims | ART | - |
dc.citation.volume | 6 | - |
dc.citation.issue | 1 | - |
dc.citation.beginningpage | 81 | - |
dc.citation.endingpage | 100 | - |
dc.citation.publicationname | MECHATRONICS | - |
dc.embargo.liftdate | 9999-12-31 | - |
dc.embargo.terms | 9999-12-31 | - |
dc.contributor.localauthor | Lee, Ju-Jang | - |
dc.contributor.nonIdAuthor | Choi, CK | - |
dc.type.journalArticle | Article | - |
dc.subject.keywordPlus | TIME OBSTACLE AVOIDANCE | - |
dc.subject.keywordPlus | CONFIGURATION-SPACE | - |
dc.subject.keywordPlus | NAVIGATION | - |
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