이동로봇의 안전한 주행을 위한 광선투사법 기반의 실내 경로계획Path Planning based on Ray-casting in Indoor Environments for Safe Navigation of a Mobile Robot
- Other Titles
- Path Planning based on Ray-casting in Indoor Environments for Safe Navigation of a Mobile Robot
- Authors
- 김종원; 송재복
- Issue Date
- 2010
- Publisher
- 한국로봇학회
- Keywords
- Mobile Robot; Path Planning; Gradient Method; Ray-casting
- Citation
- 로봇학회 논문지, v.5, no.4, pp.302 - 308
- Indexed
- KCI
OTHER
- Journal Title
- 로봇학회 논문지
- Volume
- 5
- Number
- 4
- Start Page
- 302
- End Page
- 308
- URI
- https://scholar.korea.ac.kr/handle/2021.sw.korea/117765
- ISSN
- 1975-6291
- Abstract
- A gradient method can provide a global optimal path in indoor environments. However, the optimal path can be often generated in narrow areas despite a sufficient wide area which lead to safe navigation. This paper presents a novel approach to path planning for safe navigation of a mobile robot. The proposed algorithm extracts empty regions using a ray-casting method and then generates temporary waypoints in wider regions in order to reach the goal fast and safely. The experimental results show that the proposed method can generate paths in the wide regions in most cases and the robot can reach the goal safely at high speeds.
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Collections - College of Engineering > Department of Mechanical Engineering > 1. Journal Articles
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