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Efficient Environment Representation for Mobile Robot Path Planning using CVT-PRM with Halton Sampling

Efficient Environment Representation for Mobile Robot Path Planning using CVT-PRM with Halton Sampling
학술지명 Electronics Letters ISSN 0013-5194
SCI 유무 SCI 게재연월 2012-10 Vol. 48 No. 22
표준화된 순위정보영향력지수 46.72 IF 0.965 Citation -

Efficient Environment Representation for Mobile Robot Path Planning using CVT-PRM with Halton Sampling
저자 ByungJae Park, WanKyun Chung
초록
A centroidal Voronoi tessellation-based probabilistic roadmap (CVTPRM) and its construction method for mobile robot path planning are introduced. The CVT-PRM efficiently encoded the entire unoccupied region of the environment by autonomously rearranging the positions of nodes via CVT and Halton sampling. Simulation results verified that the CVT-PRM can encode the entire unoccupied region efficiently, using evenly distributed nodes.
keyword CVT-PRM, mobile robot path planning

Efficient Environment Representation for Mobile Robot Path Planning using CVT-PRM with Halton Sampling
과제명 원격존재를 통한 감각-운동 작업을 위한 근전도 신호 기반의 동작의도 예측 및 능동 촉감 복원 기술 개발
연구기관 한국과학기술연구원 연구책임자 김기훈