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Comparisonal analysis of path planning methods for automatic parking control of a car-like mobile robot
- Kwon, H.;
- Chung, W.
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5초록
We proposed the KPP (Korea university Path Planner) in our previous works. The KPP is the path planning scheme of a car-like mobile robot in parking environment. The objective of this paper is to investigate the advantage of the KPP through the quantitative and qualitative analysis compared with conventional RRT. For comparison, we proposed travel time for performance index. This paper shows that the KPP shows outstanding performances from the viewpoint of travel time and computational efficiency compared with RRT. © ICROS 2012.
키워드
Car-like mobile robot; Korea university path planner; Nonholonomic planning; Path planning; Automatic parking; Car-like mobile robots; Non-holonomic planning; Path planners; Path planning method; Performance indices; Planning scheme; Qualitative analysis; Mobile robots; Travel time; Motion planning
- 제목
- Comparisonal analysis of path planning methods for automatic parking control of a car-like mobile robot
- 저자
- Kwon, H.; Chung, W.
- 발행일
- 2012
- 유형
- Article
- 저널명
- 제어.로봇.시스템학회 논문지
- 권
- 18
- 호
- 3
- 페이지
- 267 ~ 274