모바일 로봇의 네비게이션을 위한 빠른 경로 생성 알고리즘Fast Path Planning Algorithm for Mobile Robot Navigation
- Other Titles
- Fast Path Planning Algorithm for Mobile Robot Navigation
- Authors
- 박정규; 전흥석; 노삼혁
- Issue Date
- 2014
- Publisher
- 대한임베디드공학회
- Keywords
- Mobile robot; Navigation; Path planning; Hybrid map
- Citation
- 대한임베디드공학회논문지, v.9, no.2, pp.101 - 107
- Journal Title
- 대한임베디드공학회논문지
- Volume
- 9
- Number
- 2
- Start Page
- 101
- End Page
- 107
- URI
- https://scholarworks.bwise.kr/hongik/handle/2020.sw.hongik/18646
- DOI
- 10.14372/IEMEK.2014.9.2.101
- ISSN
- 1975-5066
- Abstract
- Mobile robots use an environment map of its workspace to complete the surveillance task. However grid-based maps that are commonly used map format for mobile robot navigation use a large size of memory for accurate representation of environment. In this reason, grid-based maps are not suitable for path planning of mobile robots using embedded board. In this paper, we present the path planning algorithm that produce a secure path rapidly. The proposed approach utilizes a hybrid map that uses less memory than grid map and has same efficiency of a topological map. Experimental results show that the fast path planning uses only 1.5% of the time that a grid map based path planning requires. And the results show a secure path for mobile robot.
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Collections - College of Engineering > Computer Engineering Major > 1. Journal Articles
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