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Roadmap Coverage Improvement using Node Rearrangement Method for Mobile Robot Path Planning

Roadmap Coverage Improvement using Node Rearrangement Method for Mobile Robot Path Planning
학술지명 Advanced Robotics ISSN 0169-1864
SCI 유무 SCI(E) 게재연월 2012-07 Vol. 26 No. 8~9
표준화된 순위정보영향력지수 22.22 IF 0.571 Citation 2

Roadmap Coverage Improvement using Node Rearrangement Method for Mobile Robot Path Planning
저자 ByungJae Park, JinWoo Choi, WanKyun Chung
초록
This paper proposes a method to efficiently abstract the traversable regions of a bounded two-dimensional environment using the probabilistic roadmap (PRM) to plan the path for a mobile robot. The proposed method uses centroidal Voronoi tessellation to autonomously rearrange the positions of initially randomly generated nodes. The PRM using the rearranged nodes covers most of the traversable regions in the environment and regularly divides them. The rearranged roadmap reduces the search space of a graph search algorithm and helps to promptly answer arbitrary queries in the environment. The mobile robot path planner using the proposed rearranged roadmap was integrated with a local planner that considers the kinematic properties of a mobile robot, and the efficiency and the safety of the paths were verified by simulation.
keyword Navigation, path planning, probabilistic roadmap, centroidal Voronoi tessellation, mobile robot

Roadmap Coverage Improvement using Node Rearrangement Method for Mobile Robot Path Planning
과제명 바이오닉 인터페이스 기반 운동의도 인식 및 감각전달 기술 개발
연구기관 한국과학기술연구원 연구책임자 김기훈