Path planning using an information grid map for safe navigation
DC Field | Value | Language |
---|---|---|
dc.contributor.author | Jung, M.-K. | - |
dc.contributor.author | Park, J.-T. | - |
dc.contributor.author | Song, J.-B. | - |
dc.date.accessioned | 2021-09-07T04:26:42Z | - |
dc.date.available | 2021-09-07T04:26:42Z | - |
dc.date.created | 2021-06-17 | - |
dc.date.issued | 2012 | - |
dc.identifier.issn | 1226-4873 | - |
dc.identifier.uri | https://scholar.korea.ac.kr/handle/2021.sw.korea/110748 | - |
dc.description.abstract | Conventional path planning methods have focused on the generation of an optimal shortest path to the goal. However, this optimal path cannot guarantee safe navigation, because it can often lead to a narrow area. Therefore, we propose a Coulomb's law-based safe path planning method that uses an information grid map. The information grid map includes four types of information: occupied, empty, guide, and dangerous areas. A safe path can be generated away from the dangerous area and close to the guide area by repulsive and attractive forces, respectively. Experiments and simulations show that the proposed method can generate paths inside the safe region and is useful for safe navigation. © 2012 The Korean Society of Mechanical Engineers. | - |
dc.language | Korean | - |
dc.language.iso | ko | - |
dc.subject | Attractive force | - |
dc.subject | Dangerous area | - |
dc.subject | Information Grid | - |
dc.subject | Optimal paths | - |
dc.subject | Path planning method | - |
dc.subject | Safe path planning | - |
dc.subject | Safe region | - |
dc.subject | Shortest path | - |
dc.subject | Mobile robots | - |
dc.subject | Navigation | - |
dc.subject | Optimization | - |
dc.subject | Motion planning | - |
dc.title | Path planning using an information grid map for safe navigation | - |
dc.type | Article | - |
dc.contributor.affiliatedAuthor | Song, J.-B. | - |
dc.identifier.doi | 10.3795/KSME-A.2012.36.6.623 | - |
dc.identifier.scopusid | 2-s2.0-84862899843 | - |
dc.identifier.bibliographicCitation | Transactions of the Korean Society of Mechanical Engineers, A, v.36, no.6, pp.623 - 628 | - |
dc.relation.isPartOf | Transactions of the Korean Society of Mechanical Engineers, A | - |
dc.citation.title | Transactions of the Korean Society of Mechanical Engineers, A | - |
dc.citation.volume | 36 | - |
dc.citation.number | 6 | - |
dc.citation.startPage | 623 | - |
dc.citation.endPage | 628 | - |
dc.type.rims | ART | - |
dc.type.docType | Article | - |
dc.identifier.kciid | ART001663830 | - |
dc.description.journalClass | 1 | - |
dc.description.journalRegisteredClass | scopus | - |
dc.description.journalRegisteredClass | kci | - |
dc.subject.keywordPlus | Attractive force | - |
dc.subject.keywordPlus | Dangerous area | - |
dc.subject.keywordPlus | Information Grid | - |
dc.subject.keywordPlus | Optimal paths | - |
dc.subject.keywordPlus | Path planning method | - |
dc.subject.keywordPlus | Safe path planning | - |
dc.subject.keywordPlus | Safe region | - |
dc.subject.keywordPlus | Shortest path | - |
dc.subject.keywordPlus | Mobile robots | - |
dc.subject.keywordPlus | Navigation | - |
dc.subject.keywordPlus | Optimization | - |
dc.subject.keywordPlus | Motion planning | - |
dc.subject.keywordAuthor | Information grid map | - |
dc.subject.keywordAuthor | Mobile robot | - |
dc.subject.keywordAuthor | Path planning | - |
Items in ScholarWorks are protected by copyright, with all rights reserved, unless otherwise indicated.
(02841) 서울특별시 성북구 안암로 14502-3290-1114
COPYRIGHT © 2021 Korea University. All Rights Reserved.
Certain data included herein are derived from the © Web of Science of Clarivate Analytics. All rights reserved.
You may not copy or re-distribute this material in whole or in part without the prior written consent of Clarivate Analytics.